Techniques are discussed for controlling a vehicle, such as an autonomous vehicle, based on occluded areas in an environment. An occluded area can represent areas where sensors of the vehicle are unable to sense portions of the environment due to obstruction by another object. An occlusion grid representing the occluded area can be stored as map data or can be dynamically generated. An occlusion grid can include occlusion fields, which represent discrete two- or three-dimensional areas of driveable environment. An occlusion field can indicate an occlusion state and an occupancy state, determined using LIDAR data and/or image data captured by the vehicle. An occupancy state of an occlusion field can be determined by ray casting LIDAR data or by projecting an occlusion field into segmented image data. The vehicle can be controlled to traverse the environment when a sufficient portion of the occlusion grid is visible and unoccupied.