Follow-up proportion smoothing method and device, storage medium and equipment

The invention discloses a follow-up proportion smoothing method and device, a storage medium and equipment, and the method comprises the steps: initializing a Boolean array, and recording whether a corresponding index k segment is allowed to be adjusted or not; initializing the upper limit and the lower limit of the follow-up proportion of each section; calculating the speed mutation corresponding to the index k, and storing the combination of the index k and the absolute value of the Vd in a dynamic space M; if M is null, adjustment is not needed any more, otherwise, the group of values with the maximum absolute values of speed mutation in M are taken out, the corresponding index j is obtained, and meanwhile the node is deleted from M; deleting nodes corresponding to i, j and k from M; adjusting the follow-up proportion of adjacent sections of the connection point; recalculating velocity abrupt changes corresponding to i, j and k and adding the velocity abrupt changes into M; and finishing the follow-up prop