通过二次型最优控制LQR算法，根据极值原理导出最优控制律，以确定半主动减振器驱动器控制力。

By using quadric LQR algorithm, optimal control rule was educed. According to extremum principle, control force of driver on semi-active damper was confirmed.

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而采用基于广度优先算法，在只考虑一到两次换乘的实际情况下，能有效的实现最优路径的查询。

But USES based on the breadth first algorithm, in only considered one to two time trades while the actual situation in, can the effective realization most superior way inquiry.

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并且通过把该交叉规划转化为特殊的凸二次双水平规划，给出这类交叉规划的最优性条件和求解算法。

Furthermore, it gives an optimum condition and a simple algorithm of the special interaction programming by changing it into a special convex quadratic bilevel programming.

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