An autonomous driving control system, the control system comprising a main control system and a backup control system, the main control system comprising a main control module and main execution modules, and the backup control system comprising a backup control module and backup execution modules, wherein the main control module is configured to monitor an operating status of the main control system in real time: the main control module is further configured to send, when detecting that a failure occurs in the main control system, a failure notification to the backup control module, and send a response termination control instruction to each of the main execution modules, the response termination control instruction being a control instruction for instructing each of the main execution modules not to respond to any control over a vehicle; and the backup control module is configured to control, after receiving the failure notification, each of the backup execution modules to start to execute a backup control instruction, wherein the backup control module is configured to send the backup control instruction to the backup execution modules; the backup control module is further configured to send, after receiving the failure notification, a first response control instruction to the backup execution modules, the first response control instruction being a control instruction for instructing each of the backup execution modules to start to respond to the backup control instruction, and the backup execution modules are configured to start, on the basis of the first response control instruction, to execute the backup control instruction, characterised in that the backup control module is configured to determine whether communication with the main control module is interrupted, and control, after determining that the communication with the main control module is interrupted, the backup execution modules to start to execute the backup control instruction, and in that the main control module is further configured to send a main control instruction and a second response control instruction to the main execution modules, the second response control instruction being a control instruction for instructing each of the main execution modules to respond to the main control instruction and instructing each of the backup execution modules to respond to a decomposed main control instruction. the main control module is further configured to send, when detecting that a failure occurs in the main control system, a failure notification to the backup control module, and send a response termination control instruction to each of the main execution modules, the response termination control instruction being a control instruction for instructing each of the main execution modules not to respond to any control over a vehicle; and the backup control module is configured to control, after receiving the failure notification, each of the backup execution modules to start to execute a backup control instruction, wherein the backup control module is configured to send the backup control instruction to the backup execution modules; the backup control module is further configured to send, after receiving the failure notification, a first response control instruction to the backup execution modules, the first response control instruction being a control instruction for instructing each of the backup execution modules to start to respond to the backup control instruction, and the backup execution modules are configured to start, on the basis of the first response control instruction, to execute the backup control instruction, characterised in that the backup control module is configured to determine whether communication with the main control module is interrupted, and control, after determining that the communication with the main control module is interrupted, the backup execution modules to start to execute the backup control instruction, and in that the main control module is further configured to send a main control instruction and a second response control instruction to the main execution modules, the second response control instruction being a control instruction for instructing each of the main execution modules to respond to the main control instruction and instructing each of the backup execution modules to respond to a decomposed main control instruction.