Embodiments of the present disclosure relate to an autonomous vehicle and a system for the autonomous vehicle. The system includes a master computing unit (102) configured to control operations of the autonomous vehicle; a slave computing unit (104) communicatively coupled to the master computing unit (102) and configured to control the operations of the autonomous vehicle in response to detecting a failure of the master computing unit (102); at least one lidar (116, 118) configured to acquire environmental information around the autonomous vehicle; and a switch (106) communicatively coupled to the at least one lidar (116, 118), the master computing unit (102) and the slave computing unit (104), and configured to provide the environmental information to the master computing unit (102) and the slave computing unit (104) for controlling the autonomous vehicle. Since the master computing unit and the slave computing unit are provided, the autonomous vehicle 10 can enter the limp mode when any one of the master computing unit or the slave computing unit fails, to ensure the safety of the autonomous vehicle. In this way, at least L4 autonomous driving can be achieved.