Methods and systems for autonomous and semi-autonomous vehicle control, routing, and automatic feature adjustment are disclosed. Autonomous operation feature usage levels or settings may be automatically adjusted to optimize performance using suitability data for road segments along a route traveled by a vehicle, such as when operating conditions change. Data regarding road segment suitability may be generated from prior operating data for the road segments and retrieved from a map database to aid autonomous vehicle routing, as well as to implement automatic adjustments to feature usage. In some instances, vehicle control may be returned to a vehicle operator, in which case advance warning may be given to enable the operator to prepare to resume control of the vehicle.