Aiming at requirements of safety

reliability comfort and punctuality of urban rail traffic

put forward a kind of multi parameter adaptive control method for automatic train operation（ ATO） system based on multi-sensor fusion. Based on the parameters of control overshoot

travel time

stopping precision and dynamic calculation efficiency

aided by predicted control method

control strategy based on proportion integration differentiation（ PID）controller and the adaptive adjustment method of related parameters are designed. The feasibility and correctness of the relevant method are verified by simulation analysis on actual operating parameters.