Abstract: Targeting the phenomenon that passengers are experiencing poor comfort in the process of urban rail transit train stopping at station using automatic control technology, measures to improve the train stopping comfort level in ATO (automatic train operation) mode through increasing vehicle followability and optimizing ATO control algorithm are proposed. From analysis of ATO train stopping comfort level, the train braking comfort should meet the condition of train longitudinal impact rate ≤0.75 m/s3; through manual operation test, it is concluded that passengers can experience more physical comfort when train brake level is controlled under 40%; the influence of air braking on vehicle followability during train stopping process is analyzed, and the measure of pure electric braking is adopted to elevate train followability during station stopping process which in turn improves the comfort level; an improved ATO control algorithm is proposed, and PID (proportion integration differentiation) control algorithm is used to adjust parameters to optimize ATO train control curve so that the train stops at a lower brake level. On this basis, the PID control algorithm is optimized, and the self adaptive PID control algorithm is selected. Compared with the conventional PID control algorithm, the comfort issue can be treated more efficiently with self adaptive PID control algorithm.