According to some implementations of the present disclosure, a method for controlling an autonomous vehicle is disclosed. The method includes traversing the transportation network in accordance with a route and receiving vehicle sensor data from one or more vehicle sensors of the autonomous vehicle. The method also includes determining that the autonomous vehicle has encountered an occlusion scenario based on the vehicle sensor data. In response to determining that the autonomous vehicle has encountered the occlusion scenario, the method includes transmitting a request for infrastructure data to an external resource via a communication network, receiving infrastructure data from the external resource, determining a control action for the autonomous vehicle to perform based on the infrastructure data and the vehicle sensor data, and controlling the autonomous vehicle based on the control action.