To meet the demand for constant current and constant voltage charging of batteries and to increase the system output power, the LCC-LCL/S-type self-switching wireless power transfer system is proposed. The system does not require communication between the primary and secondary circuits, and its output mode is controlled by simply changing the status of two switches on the secondary side. Notably, the system satisfies the zero phase angle characteristic before and after mode switching. The parameter design method is proposed based on the circuit topology and the maximum safe current constraint. To make the output voltage fluctuation as small as possible, the optimum load switching point for the system has been designed, and its optimality has been validated by simulation. Furthermore, the switching control strategy is proposed, considering the effects of the system no-load and load short-circuit in real situations. Finally, an experimental platform was built to achieve the high efficiency output of the system with the maximum output voltage of 46.21 V, the maximum output power of 180 W, and the maximum efficiency of 93.4%, which verified the applicability of the proposed method.