The autonomic nervous system (ANS) governs involuntary functions like heart rate, digestion, respiration, and more. It has two divisions - the sympathetic ("fight or flight") division which prepares the body for emergencies, and the parasympathetic ("rest and digest") division which conserves energy. The ANS is composed of preganglionic and postganglionic neurons. It is controlled by the hypothalamus and brainstem and can function independently at the spinal cord level for some parasympathetic functions like urination.