Abstract: Systems may include a processor to, in response to determining at least one segment of a field of view (FOV) of a first sensor of an autonomous vehicle that overlaps with a FOV of at least one second sensor of the autonomous vehicle, calculate a scaling factor for diagnostic coverage for the at least one segment based on a value of modality overlap (MoD) for the at least one segment, calculate, based on the scaling factor, a value of a metric of hardware failure for the first sensor, and compare the value of the metric of hardware failure to a threshold value to determine whether to increase a diagnostic coverage of the first sensor. Methods, computer program products, and autonomous vehicles are also disclosed.