The present disclosure relates to an autonomous vehicle control system (100) for providing motion control of an autonomous vehicle (200), comprising: —a primary control unit (10) configured to perform longitudinal and lateral motion control of the vehicle during normal operation, —a secondary back-up control unit (20) configured to perform back-up longitudinal motion control when an emergency mode has been enabled, wherein the primary control unit is further configured to perform back-up lateral motion control when the emergency mode has been enabled. The invention further relates to a method for providing motion control of an autonomous vehicle and to an autonomous vehicle.