  A self-consistent model which can unify Starobinsky inflation and the
$\Lambda$CDM model in the framework of Poincar\'e gauge cosmology (PGC) is
studied in this work, without extra inflaton and ``dark energy''. We start from
the general nine-parameter PGC Lagrangian and get two Friedmann-like analytical
solutions with the certain ghost- and tachyon-free conditions on the Lagrangian
parameters. The scalar torsion $h$-determined solution is consistent with
Starobinsky cosmology in the early-time and the pseudo-scalar torsion
$f$-determined solution contains naturally a constant ``dark energy'' density,
$3(\alpha-1)^2/8B_0$, which covers the $\Lambda$CDM model in the late-time.
According to the latest observations, we estimate the magnitudes of parameters:
$\alpha-1\simeq 8.07\times10^{-56}$, $B_0\simeq5.76\times10^{-28}GeV^{-2}$ in
the natural units.
