A method for determining if a vehicle control command for controlling a vehicle (1) associated with a current vehicle state precludes a future situation avoidance maneuver (SAM) by the vehicle. The method comprises obtaining one or more safe sets, wherein each safe set represents a range of vehicle states from which a future SAM can be initialized with prospect for success. The method also comprises obtaining the current vehicle state and the control command and predicting a future vehicle state based on the current vehicle state and on the control command. The method comprises comparing the predicted future vehicle state to the one or more safe sets and determining that the control command precludes the future SAM if the predicted future vehicle state is not comprised in any of the one or more safe sets.