Augmented trajectories for autonomous vehicles

A method comprising:

• detecting, by an autonomous vehicle, a condition in which the autonomous vehicle is impeded from navigating according to a first trajectory;
• sending an assistance signal from the autonomous vehicle to an assistance center that the autonomous vehicle seeks assistance navigating according to the first trajectory, wherein the assistance signal includes sensor information of the autonomous vehicle, indicating low-level sensor strike input and high-level, polygonal or polyhedral representations of objects in the vicinity of the autonomous vehicle;
• and
• receiving, by the autonomous vehicle, a response to the assistance signal, wherein the response includes a representation of a second trajectory, wherein the second trajectory is based on the first trajectory, wherein the second trajectory ignores the presence of at least one high-level, polygonal or polyhedral representation of an object that obstructs the first trajectory.

An autonomous vehicle comprising:

• one or more processors;
• and
• data storage storing program instructions that, when executed by the one or more processors, cause the autonomous vehicle to perform functions comprising:
• detecting a condition in which the autonomous vehicle is impeded from navigating according to a first trajectory;
• sending an assistance signal from the autonomous vehicle to an assistance center that the autonomous vehicle seeks assistance navigating according to the first trajectory, wherein the assistance signal includes sensor information of the autonomous vehicle, indicating low-level sensor strike input and high-level, polygonal or polyhedral representations of objects in the vicinity of the autonomous vehicle;
• and
• receiving a response to the assistance signal, wherein the response includes a representation of a second trajectory, wherein the second trajectory is based on the first trajectory, wherein the second trajectory ignores the presence of at least one high-level, polygonal or polyhedral representation of an object that obstructs the first trajectory.