My idea would be to put the camera in AF SINGLE focus mode, and enable the AF assist lamp on a speedlight. The camera's focusing selector must be in SIngle focus mode for the AF assist system to work; that is a prerequisite with both Canon and Nikon d-slrs.
You did not mention how many AF areas you are using. With slower zooms like that one, having multiple AF points enabled can often be helpful on low-contrast or smooth targets. Having three, or nine AF points active, gives the camera multiple data points to read and analyze. Sometimes, especially when using just "one,single AF point", even the center cross-type point, the target is smooth, or low in contrast, and has very little detail for an AF sensor to "read", and so focus can be pretty challenging. Sometimes just rotating the camera a bit can help as well, which changes the angle of the detail in relation to the aF sensor.