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In this article, a novel three-dimensional (3D) massive multiple-input multiple-output (MIMO) millimeter wave (mmWave) geometry-based stochastic model (GBSM) is proposed for sixth-generation (6G) vehicle-to-vehicle (V2V) channels. In the proposed GBSM, clusters in the environment are divided into static clusters and dynamic clusters. Furthermore, the time-variant acceleration together with the integration of time during the transmission distance update are exploited. As a result, the continuously arbitrary trajectory of the transceiver and dynamic clusters is successfully captured. To jointly model space-time-frequency (S-T-F) non-stationarity of 6G V2V channels, a new method, which properly integrates the frequency-dependent factor, birth-death (BD) process, and selective evolution of static and dynamic clusters, is developed. Key channel statistics, including the space-time-frequency correlation function (STF …