A vehicle automatic control system based on emergency command communication

Abstract

The present invention discloses a vehicle automatic control system based on emergency command communication, comprising a right confirmation module and a feedback module, wherein the feedback module comprises a first circuit, a second circuit and a third circuit, wherein the right confirmation module feeds back a right confirmation request signal A1_1 to the feedback module before the vehicle moves, and the feedback module sends the signal to the third circuit after receiving the LC frequency selection, wherein the third circuit first sets a start frequency band signal A1_2 to the second circuit to generate a corresponding sine wave conversion signal A1_3, which is returned to the third circuit for differential with the A1_1 signal, and outputs a start signal E1_1 to the first circuit when the A1_1 signal exists, wherein the first circuit first sends a frequency band signal E1_2 to the second circuit to generate a corresponding sine wave conversion signal E1_3, which is returned to the first circuit, and after receiving the conversion signals E1_1 and E1_3, the first circuit generates different authorization signals E according to the state of the authorization switch and returns the signals to the right confirmation module, and the right confirmation module determines the authorization mode after demodulation.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a vehicle automatic control system based on emergency command communication. Background Art

[0002] Publication No.: CN118494535A discloses an intelligent integrated control system for a communication vehicle based on an on-board electronic system. The control module can automatically control the relative movement of the first vehicle and the second vehicle according to the position information of the first vehicle and the second vehicle, the signal transmission strength and the reception strength of the antenna array, so as to avoid the problem of being unable to respond to the position adjustment requirements of the communication vehicle after the personnel leave the site. However, when the environment becomes complicated and the number of communication vehicles is large, if the signal strength of the later stationed vehicle is better than that of the earlier stationed vehicle, it is easy to trigger a series of movement reactions in the communication vehicle group during the process of mutual position adjustment. Summary of the invention

[0003] In view of the above technical problems, the purpose of the present invention is to provide a vehicle automatic control system based on emergency command communication, including a right confirmation module and a feedback module, the feedback module including a first circuit, a second circuit, and a third circuit, the right confirmation module feeds back a right confirmation request signal A1_1 to the feedback module before the vehicle moves, the feedback module sends it to the third circuit after LC frequency selection reception, the third circuit first sets the start frequency band signal A1_2 to the second circuit to generate a corresponding sine wave conversion signal A1_3 and returns to the third circuit to perform differential with the A1_1 signal, and outputs a start signal E1_1 to the first circuit when the A1_1 signal exists, the first circuit first sends the frequency band signal E1_2 to the second circuit to generate a corresponding sine wave conversion signal E1_3 and returns it to the first circuit, after receiving the conversion signals E1_1 and E1_3, the first circuit generates different authorization signals E according to the state of the authorization switch and returns them to the right confirmation module, and the right confirmation module determines the authorization mode after demodulation.

[0004] Furthermore, the first circuit includes a plurality of operational amplifiers, a plurality of resistors, a plurality of capacitors, a plurality of relays, a triode, a dip switch, and a crystal oscillator;

[0005] The in-phase end of the operational amplifier U1 among the plurality of operational amplifiers is connected to one end of the capacitor C1, the inverting end of the operational amplifier U2, one end of the resistor R4, and one end of the resistor R5, the inverting end is connected to one end of the resistor R1 and one end of the resistor R2, and the output end is connected to one end of the resistor R8; the in-phase end of the operational amplifier U2 is connected to the parallel output end of the dial switch S1, the other end of the resistor R2, one end of the resistor R3, and the inverting end of the operational amplifier U9, and the output end is connected to one end of the resistor R6; the in-phase end of the operational amplifier U3 is connected to one end of the resistor R15 and one end of the resistor R16, the inverting end is connected to one end of the resistor R13 and one end of the resistor R14, and the output end is connected to one end of the resistor R6. The output end is connected to the other end of the resistor R14 and the authorization signal E end; the input end of the inverter U4 is connected to one end of the crystal oscillator X1, one end of the capacitor C3, and one end of the resistor R17, and the output end is connected to the other end of the crystal oscillator X1, one end of the capacitor C2, the other end of the resistor R17, and the frequency band signal E1_2 end; the first pin of the trigger U5 is connected to the base of the transistor Q1, the second pin, the fifth pin and the third pin of the trigger U6 are connected, the fourth pin is connected to the other end of the resistor R8 and one end of the resistor R9, and the sixth pin is connected to one end of the resistor R6 and one end of the resistor R7; the first pin of the trigger U6 is connected to the base of the transistor Q1, the second pin and the fifth pin are connected to the third pin of the trigger U6, the fourth pin is connected to the other end of the resistor R8 and one end of the resistor R9, and the sixth pin is connected to one end of the resistor R6 and one end of the resistor R7; and the other end of the resistor R13, and the second pin is connected to the fifth pin; the output end of the operational amplifier U9 is connected to one end of the resistor R26; the collector of the transistor Q1 and the other end of the resistor R1 are connected to the power supply, and the emitter of the transistor Q1 is connected to the other end of the resistor R5; one end of the relay K1 is connected to the other end of the resistor R16, and the other end is connected to one end of the relay K2, and one end of the coil is connected to the other end of the resistor R26; the other end of the relay K2 is connected to the conversion signal E1_3 end, and one end of the coil is connected to one end of the resistor R36; the input end of the code switch S1 is connected to one end of the resistor R10, One end of resistor R11 and one end of resistor R12 are connected; the other end of resistor R36 is connected to the end of start signal E1_1; the third pin of trigger U5, the fourth pin of trigger U6, the sixth pin of trigger U6, the other end of capacitor C1, the other end of capacitor C2, the other end of capacitor C3, the other end of relay K1 coil, the other end of relay K2 coil, the other end of resistor R3, the other end of resistor R4, the other end of resistor R7, the other end of resistor R9, the other end of resistor R10, the other end of resistor R11, the other end of resistor R12, the other end of resistor R15 and the ground are connected.

[0006] Furthermore, the second circuit is composed of two identical circuits, each circuit including a plurality of resistors, a plurality of capacitors, and a triode;

[0007] The base of the transistor Q2 is connected to one end of the capacitor C9, one end of the resistor R29, one end of the resistor R32, and one end of the resistor R33, the emitter is connected to one end of the resistor R30, and the collector is connected to one end of the resistor R31 and the conversion signal E1_3 end or the A1_3 end; one end of the capacitor C7 is connected to one end of the resistor R27 and one end of the resistor R28; one end of the capacitor C8 is connected to the other end of the resistor R28 and the other end of the resistor R29; the other end of the resistor R27 is connected to the frequency band signal E1_2 end or the A1_2 end; the other end of the resistor R31 and the other end of the resistor R32 are connected to the power supply; the other end of the capacitor C7, the other end of the capacitor C8, the other end of the capacitor C9, the other end of the resistor R30, and the other end of the resistor R33 are connected to the ground end.

[0008] Furthermore, the third circuit includes a number of operational amplifiers, a number of resistors, a number of capacitors, an inverter U7, and a crystal oscillator;

[0009] The in-phase end of the operational amplifier U8 among the plurality of operational amplifiers is connected to one end of the resistor R20 and one end of the resistor R23, the inverting end is connected to one end of the resistor R21 and one end of the resistor R22, and the output end is connected to one end of the resistor R18 and the other end of the resistor R22; the in-phase end of the operational amplifier U10 is connected to one end of the capacitor C4 and the other end of the resistor R18, and the output end is connected to the start signal E1_1 end; the input end of the inverter U7 is connected to one end of the crystal oscillator X2, one end of the capacitor C6, and one end of the resistor R19, and the output end is connected to the other end of the crystal oscillator X2, one end of the capacitor C5, the other end of the resistor R19, and the frequency band signal A1_2 end; the other end of the resistor R21 is connected to the conversion signal A1_3 end; the other end of the resistor R23 is connected to the request signal A1_1 end; the other end of the capacitor C4, the other end of the capacitor C5, the other end of the capacitor C6, the other end of the resistor R20 are connected to the ground end.

[0010] Furthermore, the first circuit also includes a plurality of resistors;

[0011] One end of the resistor R25 among the plurality of resistors is connected to the power supply, and the other end is connected to one end of the resistor R24 ​​and the in-phase terminal of the operational amplifier U9; the other end of the resistor R24 ​​is connected to the ground terminal.

[0012] Furthermore, the third circuit also includes a plurality of resistors;

[0013] One end of the resistor R34 among the plurality of resistors is connected to the power supply, and the other end is connected to one end of the resistor R35 and the inverting end of the operational amplifier U10; the other end of the resistor R35 is connected to the ground.

[0014] Furthermore, the feedback module also includes a resonant circuit, and the resonant circuit is used for frequency selection.

[0015] The beneficial effects of the present invention compared with the prior art are:

[0016] The present invention can set an anchor point or priority mode for the vehicle according to factors such as the role of the communication vehicle or the entry time. Before the vehicle moves, it sends a confirmation request signal to confirm the mode currently selected by the vehicle. After the vehicle position is adjusted, the mode can be selected again to ensure that there will be no chain reaction in the entire adjustment process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the prior art and the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 and Figure 2 The present invention provides an overall structural diagram.

[0019] Figure 3 A first circuit schematic diagram provided by the present invention.

[0020] Figure 4 This is a second circuit schematic diagram provided by the present invention.

[0021] Figure 5 This is a third circuit schematic diagram provided by the present invention. DETAILED DESCRIPTION

[0022] In order to make the objects and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific implementations of the present invention, and does not strictly limit the scope of protection specifically requested by the present invention.

[0023] The present invention discloses a vehicle automatic control system based on emergency command communication, comprising a right confirmation module and a feedback module, wherein the feedback module comprises a first circuit, a second circuit and a third circuit, wherein the right confirmation module feeds back a right confirmation request signal A1_1 to the feedback module before the vehicle moves, and the feedback module sends the signal to the third circuit after receiving the LC frequency selection, wherein the third circuit first sets a start frequency band signal A1_2 to the second circuit to generate a corresponding sine wave conversion signal A1_3, which is returned to the third circuit for differential with the A1_1 signal, and outputs a start signal E1_1 to the first circuit when the A1_1 signal exists, wherein the first circuit first sends a frequency band signal E1_2 to the second circuit to generate a corresponding sine wave conversion signal E1_3, which is returned to the first circuit, and after receiving the conversion signals E1_1 and E1_3, the first circuit generates different authorization signals E according to the state of the authorization switch and returns the signals to the right confirmation module, and the right confirmation module determines the authorization mode after demodulation.

[0024] Specifically, the first circuit includes a plurality of operational amplifiers, a plurality of resistors, a plurality of capacitors, a plurality of relays, a transistor Q1, a dip switch S1, and a crystal oscillator X1;

[0025] The in-phase end of the operational amplifier U1 among the plurality of operational amplifiers is connected to one end of the capacitor C1, the inverting end of the operational amplifier U2, one end of the resistor R4, and one end of the resistor R5, the inverting end is connected to one end of the resistor R1 and one end of the resistor R2, and the output end is connected to one end of the resistor R8; the in-phase end of the operational amplifier U2 is connected to the parallel output end of the dial switch S1, the other end of the resistor R2, one end of the resistor R3, and the inverting end of the operational amplifier U9, and the output end is connected to one end of the resistor R6; the in-phase end of the operational amplifier U3 is connected to one end of the resistor R15 and one end of the resistor R16, the inverting end is connected to one end of the resistor R13 and one end of the resistor R14, and the output end is connected to one end of the resistor R6. The output end is connected to the other end of the resistor R14 and the authorization signal E end; the input end of the inverter U4 is connected to one end of the crystal oscillator X1, one end of the capacitor C3, and one end of the resistor R17, and the output end is connected to the other end of the crystal oscillator X1, one end of the capacitor C2, the other end of the resistor R17, and the frequency band signal E1_2 end; the first pin of the trigger U5 is connected to the base of the transistor Q1, the second pin, the fifth pin and the third pin of the trigger U6 are connected, the fourth pin is connected to the other end of the resistor R8 and one end of the resistor R9, and the sixth pin is connected to one end of the resistor R6 and one end of the resistor R7; the first pin of the trigger U6 is connected to the base of the transistor Q1, the second pin and the fifth pin are connected to the third pin of the trigger U6, the fourth pin is connected to the other end of the resistor R8 and one end of the resistor R9, and the sixth pin is connected to one end of the resistor R6 and one end of the resistor R7; and the other end of the resistor R13, and the second pin is connected to the fifth pin; the output end of the operational amplifier U9 is connected to one end of the resistor R26; the collector of the transistor Q1 and the other end of the resistor R1 are connected to the power supply, and the emitter of the transistor Q1 is connected to the other end of the resistor R5; one end of the relay K1 is connected to the other end of the resistor R16, and the other end is connected to one end of the relay K2, and one end of the coil is connected to the other end of the resistor R26; the other end of the relay K2 is connected to the conversion signal E1_3 end, and one end of the coil is connected to one end of the resistor R36; the input end of the code switch S1 is connected to one end of the resistor R10, One end of resistor R11 and one end of resistor R12 are connected; the other end of resistor R36 is connected to the end of start signal E1_1; the third pin of trigger U5, the fourth pin of trigger U6, the sixth pin of trigger U6, the other end of capacitor C1, the other end of capacitor C2, the other end of capacitor C3, the other end of relay K1 coil, the other end of relay K2 coil, the other end of resistor R3, the other end of resistor R4, the other end of resistor R7, the other end of resistor R9, the other end of resistor R10, the other end of resistor R11, the other end of resistor R12, the other end of resistor R15 and the ground are connected.

[0026] like Figure 4 As shown, specifically, the second circuit is composed of two identical circuits, each circuit includes a plurality of resistors, a plurality of capacitors, and a transistor Q2;

[0027] The base of the transistor Q2 is connected to one end of the capacitor C9, one end of the resistor R29, one end of the resistor R32, and one end of the resistor R33, the emitter is connected to one end of the resistor R30, and the collector is connected to one end of the resistor R31 and the conversion signal E1_3 end or the A1_3 end; one end of the capacitor C7 is connected to one end of the resistor R27 and one end of the resistor R28; one end of the capacitor C8 is connected to the other end of the resistor R28 and the other end of the resistor R29; the other end of the resistor R27 is connected to the frequency band signal E1_2 end or the A1_2 end; the other end of the resistor R31 and the other end of the resistor R32 are connected to the power supply; the other end of the capacitor C7, the other end of the capacitor C8, the other end of the capacitor C9, the other end of the resistor R30, and the other end of the resistor R33 are connected to the ground end.

[0028] Specifically, the third circuit includes a number of operational amplifiers, a number of resistors, a number of capacitors, an inverter U7, and a crystal oscillator X2;

[0029] The in-phase end of the operational amplifier U8 among the plurality of operational amplifiers is connected to one end of the resistor R20 and one end of the resistor R23, the inverting end is connected to one end of the resistor R21 and one end of the resistor R22, and the output end is connected to one end of the resistor R18 and the other end of the resistor R22; the in-phase end of the operational amplifier U10 is connected to one end of the capacitor C4 and the other end of the resistor R18, and the output end is connected to the start signal E1_1 end; the input end of the inverter U7 is connected to one end of the crystal oscillator X2, one end of the capacitor C6, and one end of the resistor R19, and the output end is connected to the other end of the crystal oscillator X2, one end of the capacitor C5, the other end of the resistor R19, and the frequency band signal A1_2 end; the other end of the resistor R21 is connected to the conversion signal A1_3 end; the other end of the resistor R23 is connected to the request signal A1_1 end; the other end of the capacitor C4, the other end of the capacitor C5, the other end of the capacitor C6, the other end of the resistor R20 are connected to the ground end.

[0030] Specifically, the first circuit also includes a number of resistors;

[0031] One end of the resistor R25 among the plurality of resistors is connected to the power supply, and the other end is connected to one end of the resistor R24 ​​and the in-phase terminal of the operational amplifier U9; the other end of the resistor R24 ​​is connected to the ground terminal.

[0032] Specifically, the third circuit also includes a plurality of resistors;

[0033] One end of the resistor R34 among the plurality of resistors is connected to the power supply, and the other end is connected to one end of the resistor R35 and the inverting end of the operational amplifier U10; the other end of the resistor R35 is connected to the ground.

[0034] Specifically, the feedback module further includes a resonant circuit, and the resonant circuit is used for frequency selection.

[0035] See also Figure 1 and Figure 2Before the vehicle moves, the vehicle sends a confirmation request signal to the feedback module through the confirmation module. The feedback module selects the frequency through the LC resonant circuit (not shown) and sends the request signal A1_1 to the third circuit. The third circuit inputs the crystal oscillator signal A1_2 to the second circuit and converts it into a sine wave. The third circuit is fed back to the third circuit by A1_3 for high-frequency filtering and comparison. After comparison, the start signal E1_1 is output to the first circuit. The first circuit also outputs the crystal oscillator signal E1_2 to the second circuit for waveform conversion. After being fed back to the first circuit by E1_3, the first circuit has the input conditions of E1_3 and E1_1 signals. Then, according to the state of the authorization mode switch, the authorization signal E is generated and sent back to the confirmation module via the antenna ANT, and the confirmation module performs demodulation.

[0036] See also Figure 3, the attached figure shows three major modes: anchor point, priority, and displacement adjustment. The authorization mode switch uses a dip switch. The number of priorities is increased by changing the number of digits of the dip switch S1. In the principle of the first circuit, it is assumed that the first circuit has signal feedback of E1_3 and E1_1. The collection voltage feedback circuit is composed of resistors R10, R11, R12, and dip switch S1. After the formation, the S1 connection state is dialed to select different authorization modes. After the output end of the dip switch S1 is connected in parallel, it is connected to resistor R3. Resistors R3, R2, and R1 are used to divide the output threshold detection signal to the inverting end of the operational amplifier U1 and the non-inverting end of the operational amplifier U2. The voltage at the capacitor C1 end Feedback is sent to the in-phase terminal of the operational amplifier U1 and the inverting terminal of the operational amplifier U2 for detection. The resistor R1 can be replaced by an adjustable resistor. In the initial state, there is no voltage signal between the capacitor C1 and the connecting terminals of the operational amplifier U1 and the operational amplifier U2. The output terminal of the operational amplifier U2 will output a signal to the sixth pin of the trigger U5. The first pin of the trigger U5 sends a driving signal to the base of the transistor Q1. The transistor Q1 is turned on, and the power supply current is input to the capacitor C1 through the collector and emitter of the transistor Q1 and the resistor R5. After the potential of the capacitor C1 rises to the voltage of the in-phase terminal of the operational amplifier U2, the potential of the output terminal of the operational amplifier U2 is pulled down, and the trigger U5 is in a steady state until the potential of the capacitor C1 terminal is higher than the voltage of the resistor R1 and the resistor R2 terminal. The output terminal of op amp U1 outputs a signal to the fourth pin of trigger U5. Resistors R6, R7, R8 and R9 are used to limit the pin input voltage when trigger U5 and trigger U6 use CMOS devices and change the power supply voltage. This is convenient for increasing the number of digits of DIP switch S1, increasing the voltage span between switches, and facilitating detection. When TTL devices are used and the power supply voltage is not changed, the resistor can be removed and directly connected by jumper. After the output terminal of op amp U1 outputs, the first pin of trigger U5 is cut off, the base of transistor Q1 is not driven, and the voltage at the capacitor C1 terminal is discharged to the ground loop through resistor R4. At the same time, the second pin of trigger U5 outputs a signal. The signal is sent to the third pin of the trigger U6, the sixth pin and the fourth pin of the trigger U6 are grounded, the output signal of the first pin of the trigger U6 is fed back to the inverting terminal of the operational amplifier U3 through the resistor R13, and the output terminal of the operational amplifier U3 is negatively fed back through the resistor R14. Assuming that the auxiliary contact of the relay K2 controlled by the third circuit is closed, when the state of the dip switch S1 changes, the voltage drop at the end of the resistor R3 changes the voltage division coefficient in the circuit of the resistors R1, R2 and R3, and the threshold detection signal input to the operational amplifier U1 and the operational amplifier U2 changes. The signal process of the circuit in the above initial state causes the output of the operational amplifier U3 to change accordingly, thereby completing the output of different authorization signals E;

[0037] At the same time, the inverter U4 outputs a signal to the crystal oscillator X1 in the initial state. The capacitors C1 and C2 are load capacitors. The crystal oscillator X1 is fed back to E1_2 after being started by the capacitors C2 and C3, and is converted into a sine wave by the second circuit and input to the auxiliary contact of the relay K2 by E1_3. Assuming that the vehicle needs to move, the right confirmation module sends a right confirmation request signal to the feedback module. After the output is output by the operational amplifier U10 in the third circuit, the auxiliary contact of the relay K2 is in the normally closed state, and any one or any combination of the dip switches S1 is in the on state and connected in parallel with the resistor R3 to shunt (the three-digit dip switches in the attached figure can be combined into 8-1 modes. Except for the anchor point and displacement modes, the remaining are priorities), the resistor R3 The voltage drop at the terminal also changes the voltage at the inverting terminal of the operational amplifier U9. The resistors R25 and R24 set the reference voltage of the operational amplifier U9. The reference voltage is lower than the voltage at the connection terminal of the resistors R3 and R2 when the code switch S1 is not turned and higher than the terminal voltage of any of the resistors R10, R11, and R12 connected in parallel with the resistor R3 through the code switch S1. After the inverting terminal of the operational amplifier U9 detects the voltage, it outputs a signal to the relay K1. The resistor R26 is used for current limiting of the relay K1. The relay K1 is turned on, and the auxiliary contact of the relay K1 is in a normally closed state to determine that there is a start signal E1_1 and the authorization mode is selected through the code switch S1. At this time, the operational amplifier U3 will send the authorization signal E to the right confirmation module through the output terminal after differential.

[0038] When the authentication module does not occupy the vehicle system, the first circuit, the second circuit, and the third circuit are multiplexed into the authentication module. When multiplexing, comparators equal to the number of modes are added for detection. The connection method is to set the reference voltage at the inverting end of multiple comparators, set the RC filter circuit at the same end, and connect the other end of the resistor in the filter circuit to the output end of the operational amplifier U8.

[0039] See also Figure 4 , the second circuit integrates two additional Figure 3 The same circuit in the figure, each circuit resistor R27 and transistor Q2 are separately connected to the first circuit and the third circuit, the second circuit is used to receive the E1_2 or A1_2 signal and then feed back the E1_3 or A1_3 signal to the first circuit or the third circuit, wherein the capacitor C7, the capacitor C8, the capacitor C9, the resistor R27, the resistor R28, and the resistor R29 form a three-stage filtering circuit, the transistor Q2 is used for attenuation amplification after filtering, the transistor Q2 does not use collector depth feedback, the transistor Q2 bias voltage is set by the resistor R32 and the resistor R33, the transistor Q2 is initially turned on and then amplified by the filtering feedback signal to the base of the transistor Q2, the resistor R30 and the resistor R31 are used for current limiting, the transistor Q2 is amplified and then fed back to E1_3 or A1_3 by the collector, the figure shows a three-stage filtering circuit, the number of stages can be increased or decreased according to the attenuation and distance.

[0040] See also Figure 5After the crystal oscillator X1 of the third circuit starts oscillating, it is fed back to the second circuit through A1_2, and then input to the inverting terminal of the operational amplifier U8 through A1_3 through the resistor R21. The resistor R22 is used for negative feedback. The request signal is differentiated by the operational amplifier U8 and then filtered out at high frequency by the resistor R18 and the capacitor C4 pair and fed back to the non-inverting terminal of the operational amplifier U10. The inverting terminal of the operational amplifier U10 sets the reference signal. After the operational amplifier U10 performs comparative detection, it sends the E1_1 signal to the first circuit. The reference voltage of the operational amplifier U9 in the first circuit and the operational amplifier U10 in the third circuit can be set by the power supply. In the attached figure, VCC is the power supply and GND is the ground terminal.

[0041] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations within the meaning and scope of the equivalent elements of the claims be included in the invention. Any marking in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A vehicle automatic control system based on emergency command communication, characterized in that: It includes a right confirmation module and a feedback module, the feedback module includes a first circuit, a second circuit, and a third circuit. The right confirmation module feeds back a right confirmation request signal A1_1 to the feedback module before the vehicle moves. The feedback module sends the signal to the third circuit after receiving the LC frequency selection. The third circuit first sets the start frequency band signal A1_2 to the second circuit to generate a corresponding sine wave conversion signal A1_3, which is returned to the third circuit and differentiated with the A1_1 signal. When the A1_1 signal exists, the start signal E1_1 is output to the first circuit. The first circuit first sends the frequency band signal E1_2 to the second circuit to generate a corresponding sine wave conversion signal E1_3, which is returned to the first circuit. After receiving the conversion signals E1_1 and E1_3, the first circuit generates different authorization signals E according to the state of the authorization switch and returns them to the right confirmation module. The right confirmation module determines the authorization mode after demodulation. The first circuit includes a plurality of operational amplifiers, a plurality of resistors, a plurality of capacitors, a plurality of relays, a triode, a dip switch, and a crystal oscillator; The in-phase end of the operational amplifier U1 among the plurality of operational amplifiers is connected to one end of the capacitor C1, the inverting end of the operational amplifier U2, one end of the resistor R4, and one end of the resistor R5, the inverting end is connected to one end of the resistor R1 and one end of the resistor R2, and the output end is connected to one end of the resistor R8; the in-phase end of the operational amplifier U2 is connected to the parallel output end of the dial switch S1, the other end of the resistor R2, one end of the resistor R3, and the inverting end of the operational amplifier U9, and the output end is connected to one end of the resistor R6; the in-phase end of the operational amplifier U3 is connected to one end of the resistor R15 and one end of the resistor R16, the inverting end is connected to one end of the resistor R13 and one end of the resistor R14, and the output end is connected to one end of the resistor R6. The output end is connected to the other end of the resistor R14 and the authorization signal E end; the input end of the inverter U4 is connected to one end of the crystal oscillator X1, one end of the capacitor C3, and one end of the resistor R17, and the output end is connected to the other end of the crystal oscillator X1, one end of the capacitor C2, the other end of the resistor R17, and the frequency band signal E1_2 end; the first pin of the trigger U5 is connected to the base of the transistor Q1, the second pin, the fifth pin and the third pin of the trigger U6 are connected, the fourth pin is connected to the other end of the resistor R8 and one end of the resistor R9, and the sixth pin is connected to one end of the resistor R6 and one end of the resistor R7; the first pin of the trigger U6 is connected to the base of the transistor Q1, the second pin and the fifth pin are connected to the third pin of the trigger U6, the fourth pin is connected to the other end of the resistor R8 and one end of the resistor R9, and the sixth pin is connected to one end of the resistor R6 and one end of the resistor R7; and the other end of the resistor R13, and the second pin is connected to the fifth pin; the output end of the operational amplifier U9 is connected to one end of the resistor R26; the collector of the transistor Q1 and the other end of the resistor R1 are connected to the power supply, and the emitter of the transistor Q1 is connected to the other end of the resistor R5; one end of the relay K1 is connected to the other end of the resistor R16, and the other end is connected to one end of the relay K2, and one end of the coil is connected to the other end of the resistor R26; the other end of the relay K2 is connected to the conversion signal E1_3 end, and one end of the coil is connected to one end of the resistor R36; the input end of the code switch S1 is connected to one end of the resistor R10, One end of resistor R11 and one end of resistor R12 are connected; the other end of resistor R36 is connected to the end of start signal E1_1; the third pin of trigger U5, the fourth pin of trigger U6, the sixth pin of trigger U6, the other end of capacitor C1, the other end of capacitor C2, the other end of capacitor C3, the other end of relay K1 coil, the other end of relay K2 coil, the other end of resistor R3, the other end of resistor R4, the other end of resistor R7, the other end of resistor R9, the other end of resistor R10, the other end of resistor R11, the other end of resistor R12, the other end of resistor R15 and the ground are connected.

2. The vehicle automatic control system based on emergency command communication according to claim 1 is characterized in that: The second circuit is composed of two identical circuits, each circuit including a plurality of resistors, a plurality of capacitors, and a triode; Among the plurality of capacitors, one end of capacitor C9 is connected to the base of transistor Q2, one end of resistor R29, one end of resistor R32, and one end of resistor R33, the emitter is connected to one end of resistor R30, and the collector is connected to one end of resistor R31 and the conversion signal E1_3 end or A1_3 end; one end of capacitor C7 is connected to one end of resistor R27 and one end of resistor R28; one end of capacitor C8 is connected to the other end of resistor R28 and the other end of resistor R29; the other end of resistor R27 is connected to the frequency band signal E1_2 end or A1_2 end; the other end of resistor R31 and the other end of resistor R32 are connected to the power supply; the other end of capacitor C7, the other end of capacitor C8, the other end of capacitor C9, the other end of resistor R30, and the other end of resistor R33 are connected to the ground end.

3. The vehicle automatic control system based on emergency command communication according to claim 1 is characterized in that: The third circuit includes a plurality of operational amplifiers, a plurality of resistors, a plurality of capacitors, an inverter, and a crystal oscillator; The in-phase end of the operational amplifier U8 among the plurality of operational amplifiers is connected to one end of the resistor R20 and one end of the resistor R23, the inverting end is connected to one end of the resistor R21 and one end of the resistor R22, and the output end is connected to one end of the resistor R18 and the other end of the resistor R22; the in-phase end of the operational amplifier U10 is connected to one end of the capacitor C4 and the other end of the resistor R18, and the output end is connected to the start signal E1_1 end; the input end of the inverter U7 is connected to one end of the crystal oscillator X2, one end of the capacitor C6, and one end of the resistor R19, and the output end is connected to the other end of the crystal oscillator X2, one end of the capacitor C5, the other end of the resistor R19, and the frequency band signal A1_2 end; the other end of the resistor R21 is connected to the conversion signal A1_3 end; the other end of the resistor R23 is connected to the request signal A1_1 end; the other end of the capacitor C4, the other end of the capacitor C5, the other end of the capacitor C6, the other end of the resistor R20 are connected to the ground end.

4. The vehicle automatic control system based on emergency command communication according to claim 1 is characterized in that: The first circuit also includes a plurality of resistors; One end of the resistor R25 among the plurality of resistors is connected to the power supply, and the other end is connected to one end of the resistor R24 ​​and the in-phase terminal of the operational amplifier U9; the other end of the resistor R24 ​​is connected to the ground terminal.

5. The vehicle automatic control system based on emergency command communication according to claim 3 is characterized in that: The third circuit also includes a plurality of resistors; One end of the resistor R34 among the plurality of resistors is connected to the power supply, and the other end is connected to one end of the resistor R35 and the inverting end of the operational amplifier U10; the other end of the resistor R35 is connected to the ground.

6. The vehicle automatic control system based on emergency command communication according to claim 1 is characterized in that: The feedback module also includes a resonant circuit, and the resonant circuit is used for frequency selection.

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