Besides, the LQ theorem presented in this paper can be used to change a nonlinear single regression problem to a linear one by means of transformation of variables.

此外，本文提出的LQ定理使我们能用相关分析法，通过变量变换，把单因素非线性回归问题，化成线性形成来处理。

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Then based on the LQ optimal control technique, the feedback controllers for lane change along the planned path were constructed.

然后利用LQ最优控制技术，构造了车辆沿着基准轨迹进行行驶路线变更的反馈控制器。

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