Systems and methods are provided for controlling a vehicle. In one embodiment, a method includes: determining, by a processor, road features of an upcoming road based on at least one of sensor data and map data; computing, by the processor, a required viewing angle of a sensor based on the road features; computing, by the processor, an operational envelope based on the required viewing angle and a sensor profile, wherein the operational envelope includes points along a map where the sensor can sense; and generating a control signal to disable autonomous control of the vehicle based on the operational envelope.