Abstract: Provided are methods for drawing paths for remote vehicle assistance. The methods can include receiving a goal location responsive to an input provided via a graphical user interface and generating a plurality of candidate paths based on the goal location and a starting location of a vehicle. Each candidate path can represent a corresponding trajectory from the starting location to the goal location. The plurality of candidate paths can be provided via the graphical user interface as a representation of at least one corresponding cost and at least one corresponding constraint associated with each corresponding candidate path. A path selection can be received via the graphical user interface and data associated with the selected path can be provided to the vehicle to implement the corresponding trajectory. Systems and computer program products are also provided.