Techniques for Contacting a Teleoperator

Techniques and methods for contacting a teleoperator. For instance, while navigating to a location, progress of an autonomous vehicle may stop. This may be caused by the autonomous vehicle yielding to another vehicle, such as at an intersection or when the other vehicle is located along a route of the autonomous vehicle. While yielding to the other vehicle, the autonomous vehicle may determine that the progress has stopped for a threshold amount of time. Additionally, in some circumstances, the autonomous vehicle may determine that the progress not been stopped due to traffic or a traffic light. Based at least in part on the determinations, the autonomous vehicle may send sensor data to the teleoperator, where the sensor data represents an environment for which the autonomous vehicle is located. Additionally, the autonomous vehicle may send an indication of the other vehicle to the teleoperator.