The invention discloses a roadbed automatic driving auxiliary detection system and a control method thereof. The system comprises a millimeter-wave radar module, a main control module, a communication module, a GPS module, a cloud server and a vehicle-mounted terminal, the main control module is connected with the millimeter-wave radar module and the GPS module and controls the millimeter-wave radar module and the GPS module to work; and radar detection data and GPS data are acquired, repackaged and sent to a cloud server through the communication module. According to an existing millimeter wave radar principle, a DBCAN clustering algorithm and an extended Kalman filtering algorithm, movement conditions of vehicles and pedestrians on a road are monitored in real time, and positions and movement information of the vehicles and the pedestrians around a region where a driver and an automatic driving system are located can be provided for the driver and the automatic driving system, so that blind areas existing in observation are reduced, the timeliness of information transmission in a high-speed driving scene is guaranteed, safe driving is facilitated, and therefore traffic travel is more efficient, convenient and safe.