*Article* **Study on an Automatic Parking Method Based on the Sliding Mode Variable Structure and Fuzzy Logical Control**

#### **Ying Xu \*, Zefeng Lu \*, Xin Shan, Wenhao Jia, Bo Wei and Yingqing Wang**

College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China; shanxin6812@126.com (X.S.); jiawenhao2018@163.com (W.J.); vincent305@126.com (B.W.); m13590202511\_1@163.com (Y.W.)

**\*** Correspondence: yxu@szu.edu.cn (Y.X.); Luzefeng\_work@163.com (Z.L.); Tel.: +86-755-2653-2036 (Y.X.)

Received: 29 September 2018; Accepted: 16 October 2018; Published: 19 October 2018

**Abstract:** This paper discusses an automatic parking control method based on the combination of the sliding mode variable structure control (SMVSC) and fuzzy logical control. SMVSC is applied to drive the vehicle from a random initial position and pose, to the designated parking position and pose. Then, the vehicle is driven from the designated parking position to the target parking slot using the method of fuzzy logical control, whose rules are limited to the range of the effective initial position. To combine SMVSC with the fuzzy logical control, the experimental results demonstrate that effective parking can be guaranteed, even if the initial position is out of the effective parking area of the fuzzy logical control.

**Keywords:** automatic parking; sliding mode variable structure control (SMVSC); fuzzy logical control
