**5. Conclusions**

A control parking method, which combines SMVSC with the fuzzy logical control, is proposed in this paper. This method aims to expand the range of the effective parking position, which is confirmed

by the fuzzy logical controller. The disadvantage of the fuzzy logical control is that the range of the effective initial position and pose are limited to its rules. In other words, the fuzzy logical controller cannot park the vehicle when the initial position is out of the effective initial position. The aim of this paper to solve this problem, of driving the vehicle from a random initial position to the effective parking position using the mothed of SMVSC, and parking the vehicle from the effective parking position using the method of fuzzy logical control.

SMVSC can control a vehicle from a random initial position to an effective parking position in limited amount of time; furthermore, the curve of the control laws is smooth enough to implement in reality, and the chattering effect is decreased. The results also show that the fuzzy logical controller has nine rules, which is according to the strategy of parking, and can park the vehicle from the effective parking position (area of red box). By comparing the fuzzy logical control and the hybrid control method, the experimental results verified that the fuzzy logical control cannot park from an initial position outside the range of an effective parking position, but the hybrid method can. In short, parking from a random initial position to parking outside of the effective parking position is realized by the hybrid method of combining the SMVSC and fuzzy logical control.

**Author Contributions:** Y.X. designed the main body of the study and revised the manuscript; Z.L. and X.S. wrote the main body of the paper; W.J. and B.W. guided the system design and analyzed the data; and Y.W. helped to revise the paper.

**Funding:** This research was funded by the National Natural Science Foundation of China (no. 61403259) and the Science and Technology Research and Development Foundation of Shenzhen (no. JCYJ20170302142107025).

**Conflicts of Interest:** The authors declare no conflict of interest.
