diff --git a/smarts/core/smarts.py b/smarts/core/smarts.py
index 496b12442f..b74b05f31e 100644
--- a/smarts/core/smarts.py
+++ b/smarts/core/smarts.py
@@ -1498,7 +1498,7 @@ def _try_emit_envision_state(self, provider_state: ProviderState, obs, scores):
                         mission_route_geometry = (
                             self._vehicle_index.sensor_state_for_vehicle_id(
                                 v.actor_id
-                            ).plan.route.geometry
+                            ).get_plan(self.road_map).route.geometry
                         )
                 else:
                     actor_type = envision_types.TrafficActorType.SocialAgent