A method of controlling an autonomous vehicle, comprising: generating, by a vehicle autonomy system (104; 204; 302) of an autonomous vehicle, a plurality of local routes (156A-E) beginning at a vehicle location and extending to a plurality of local route end points (154A-E), wherein a first local route of the plurality of local routes extends from the vehicle location to a first local route end point of the plurality of local route end points and a second local route of the plurality of local routes extends from the vehicle location to a second local route end point of the plurality of local route end points; sending, by a local route planner (108; 208) configured to execute at the vehicle autonomy system (104; 204), a general route cost request to a general route planner, the general route cost request comprising the plurality of local route end points, wherein the general route planner is a remote general route planner configured to execute at a computing device remote from the autonomous vehicle; accessing, by the vehicle autonomy system, general route cost data determined by the remote general route planner and returned to the local route planner (108; 208), the general route cost data describing general route costs from the plurality of local route end points (154A-E) to a trip end point, wherein a first general route cost describes a cost to traverse the first general route from the first local route end point to the trip end point and a second general route cost describes a cost to traverse the second general route from the second local route end point to the trip end point; selecting, by the vehicle autonomy system, the first local route of the plurality of local routes based at least in part on the general route cost data; and beginning, by the vehicle autonomy system of the autonomous vehicle, to control the autonomous vehicle along the first local route. generating, by a vehicle autonomy system (104; 204; 302) of an autonomous vehicle, a plurality of local routes (156A-E) beginning at a vehicle location and extending to a plurality of local route end points (154A-E), wherein a first local route of the plurality of local routes extends from the vehicle location to a first local route end point of the plurality of local route end points and a second local route of the plurality of local routes extends from the vehicle location to a second local route end point of the plurality of local route end points; sending, by a local route planner (108; 208) configured to execute at the vehicle autonomy system (104; 204), a general route cost request to a general route planner, the general route cost request comprising the plurality of local route end points, wherein the general route planner is a remote general route planner configured to execute at a computing device remote from the autonomous vehicle; accessing, by the vehicle autonomy system, general route cost data determined by the remote general route planner and returned to the local route planner (108; 208), the general route cost data describing general route costs from the plurality of local route end points (154A-E) to a trip end point, wherein a first general route cost describes a cost to traverse the first general route from the first local route end point to the trip end point and a second general route cost describes a cost to traverse the second general route from the second local route end point to the trip end point; selecting, by the vehicle autonomy system, the first local route of the plurality of local routes based at least in part on the general route cost data; and beginning, by the vehicle autonomy system of the autonomous vehicle, to control the autonomous vehicle along the first local route.