The invention provides an on-board control system, comprising: an autopilot switch for generating a mode switching instruction according to a current state of the vehicle; A lateral control switch that generates a first autopilot signal to indicate that the autopilot mode of the vehicle is the lateral autopilot mode; A longitudinal control switch that generates a second autopilot signal to indicate that the autopilot mode of the vehicle is a longitudinal autopilot mode; An emergency stop switch generates a first emergency stop signal, and sends the first emergency stop signal to a bottom vehicle controller through a CAN bus, and generates an emergency stop state signal, and sends the emergency stop state signal to a vehicle control unit, so that the vehicle control unit acquires the emergency stop state information according to the emergency stop state signal, and sends the emergency stop state information to a server; A loc device is connected with that emergency stop switch and is use for controlling the emergency stop switch to be in a locked state when the emergency stop switch is pressed. As a result, a plurality of automatic driving modes are provided, the emergency processing speed of the vehicle is improved, and the user experience is improved.