Abstract: Methods, systems, and non-transitory computer readable media are configured to perform operations comprising determining, by a computing system, a trigger event associated with a vehicle based on occurrence of a trigger condition associated with degradation of a feature relating to vehicle operation; determining, by the computing system, a trigger criticality associated with the trigger event; and selecting, by the computing system, a minimal risk maneuver (MRM) from a plurality of MRMs based on the trigger criticality, the MRM executable based on scenario conditions.