Tutorial: Learning Agents Introduction

I tried the tutorial with the driving car. It was really well-written and easy to follow. Good work on that!

How would I go about adding some avoidance to it? So that I can turn on collision on different vehicles and they will avoid each other (including the player vehicle).

I assume there needs to be some sort of vision/observation that is done in local space? Since the position of the other vehicles should be arbitrary.