A vehicle can be operated in an identified map area. Output is obtained from a first classifier, based on input including the map area and one or more current environmental conditions detected in the map area, specifying a first probability that the map area is currently available for sensing to support input-free operation of the vehicle. Then, if and only if the first probability indicates that the map area is currently available for sensing to support input-free operation of the vehicle, output is obtained from a second classifier, based on input including the map area and the one or more current environmental conditions, specifying a second probability that the vehicle will traverse the map area without a minimum risk maneuver event. Then, if and only if the second probability indicates that the vehicle will traverse the map area without a minimum risk maneuver event, operating the vehicle in an input-free mode in the map area.