1. A system comprising a computer including a processor and a memory, the memory storing instructions executable by the processor such that the computer is programmed to: identify, from a first vehicle, one or more second vehicles within a specified distance to the first vehicle; receive data about operations of each of the one or more second vehicles, the data including at least trajectory data for each of the second vehicles; identify, based at least in part on the data, a distribution of probabilities for each second vehicle; each of the probabilities associated with a potential planned trajectory of the respective vehicle; determine a planned trajectory for the first vehicle, based at least in part on the respective distributions of probabilities of each of the set of potential planned trajectories of each of the one or more second vehicles; and provide an instruction to at least one controller associated with the first vehicle based on the determined planned trajectory.