1. A method of operating a vehicle, the method comprising: acquiring sensor data, using one or more sensors, of at least a portion of an external environment of the vehicle; detecting a dynamic obstacle in the external environment of the vehicle based on the acquired sensor data; determining, using a processor, whether a secondary occluded area is located behind the dynamic obstacle relative to a current location of the vehicle based on a static obstacle map; responsive to determining that a secondary occluded area is located behind the dynamic obstacle relative to a current location of the vehicle based on the static obstacle map, determining a driving maneuver for the vehicle based on at least the dynamic obstacle and the secondary occluded area; and causing the vehicle to implement the determined driving maneuver.