1. A vehicle trajectory visualization system comprising: a communication component configured to receive orientation, position, and velocity information from a vehicle; a display device; and a processor in signal communication with the memory, the communication component, and the display device, the processor configured to generate vehicle trajectory icons based on the received vehicle orientation, position, and velocity information and waypoint icons based on previously defined waypoint information, wherein the display device displays the generated icons in a 3D environment based on a predefined viewpoint, wherein the vehicle trajectory icons include one or more nodes and trajectory lines connected to the nodes and the waypoint icons include one or more waypoint nodes with lines that link the waypoint nodes.