An apparatus for switching between driving modes of a vehicle with an automatic driving system, including: an input unit for receiving an input to switch from automatic driving mode to manual driving mode; a speed sensor for determining a current speed of the vehicle; a display unit on which a first indicator indicating a current speed of the vehicle when the vehicle is in an automatic driving mode is displayed; a pedal sensor for determining a current displacement distance of an accelerator pedal; a controller for determining a virtual speed according to the current distance displacement of the accelerator pedal when an input is received that requests switching of the automatic driving mode of the vehicle to a manual driving mode if the vehicle is in the automatic driving mode and displays a second indicator indicating the virtual speed on the display unit, and for switchings the automatic driving mode to the manual driving mode when the virtual driving speed is similar to the current speed of the vehicle.