Autonomous berthing is a prominent topic in ship automatic navigation research. To effectively address the challenges of path planning and control during ship berthing, this paper proposes an improved LQR control method based on the Frenet framework along with an adaptive berthing strategy decision model. The approach integrates ship motion control, path planning, and berthing strategy selection to achieve adaptive autonomous berthing. First, a ship dynamics model accounting for wind flow interference is established, and the berthing mode is automatically selected based on the spatial relationship between the current wind flow environment and the berth. Next, the berthing path is planned, and the LQR controller is utilized to enable the ship′s autonomous berthing. To verify the controller′s effectiveness, the simulation experiment fully considers the ship′s large drift angle characteristics and the shore effect during berthing. The simulation results demonstrate that the proposed method exhibits strong robustness against environmental disturbances, can select appropriate berthing strategies under varying conditions, and successfully achieves autonomous ship berthing