1. A method comprising: transmitting, by a transceiver of an autonomous vehicle, an assistance signal to an assistance center, wherein the assistance signal indicates that the autonomous vehicle seeks assistance navigating according to a first trajectory, and wherein the assistance signal includes a first extent of sensor information indicating representations of objects in the vicinity of the autonomous vehicle; receiving, by the transceiver of the autonomous vehicle, a request, from the assistance center, to enter an augmented mode, wherein the autonomous vehicle transmits a second extent of sensor information to the assistance center when in the augmented mode, and wherein the second extent of sensor information is greater than the first extent of sensor information; determining, by a processor of the autonomous vehicle, to enter the augmented mode; transmitting, by the transceiver of the autonomous vehicle, additional information to the assistance center; and receiving, by the transceiver of the autonomous vehicle, a response to the assistance signal and the additional information, wherein the response includes a representation of a second trajectory, wherein the response includes a representation of a second trajectory that intersects the first trajectory at one or more points, and wherein the transceiver is controlled by the processor to perform the transmitting and receiving.