The invention discloses an automotive self-adaptive cruising system with a multi-mode switching system and a control method thereof. The system is divided into three layers of control structures including a mode switching layer, an upper-layer controller and a low-layer controller; a set of automobile traveling mode comprehensively arbitrating and switching mechanism is designed in the mode switching layer and is used for picking out the ideal working mode which is most suitable for the current traveling working condition from ten control modes. The ten control modes include the constant-speed cruising mode, the steady-state automobile following mode, the front automobile approaching mode, the urgent acceleration mode, the forcible deceleration mode, the curve mode, the lane changing assisting mode, the collision avoidance mode, the doubling mode and the switching-out mode. The upper-layer controller is responsible for specifically achieving the corresponding control mode and conducting continuous handling before an expected accelerated speed is output so as to avoid sudden change of the accelerated speed; the lower-layer controller is responsible for tracking the expected accelerated speed by controlling an execution mechanism of the automobile. According to the automotive self-adaptive cruising system with the multi-mode switching system and the control method thereof, the multi-mode switching system is adopted, in this way, the automotive self-adaptive cruising system can be better adapted to a complicated traveling environment, and the acceptability of drivers is improved.