To address the challenge where the traditional Adaptive Cruise Control (ACC) are limited to maintain low-speed following when encountering a low-speed vehicle in front, an ACC control system with lane change function is developed. Firstly the system subdivides the driving modes into three types: cruise control, cruise following and lane change cruise, and a multi-mode switching strategy based on speed dissatisfaction is formulated to flexibly respond to different driving scenarios and driver’s needs. On the basis of the existing adaptive cruise system, the active lane change function is added, and the quintic polynomial is used to accurately plan the lane change trajectory, and then the lane change cruise trajectory tracking controller is constructed based on the Model Predictive Control (MPC) algorithm. Finally, the controller is verified based on MATLAB/Simulink/CarSim. The simulation results show that the proposed strategy meets the requirements of active lane change in line with the driver’s intention.