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In this paper, based on the irregular shaped geometry-based stochastic modeling (IS-GBSM) approach, a novel three-dimensional (3-D) model for cooperative multi-vehicle communication channels is developed. By employing the cooperative communication technology, multi-vehicles can form a platoon to cooperatively transmit data streams, which can achieve distributed multiple-input multiple-output (MIMO) system performance. The proposed cooperative IS-GBSM distinguishes static and dynamic clusters, where continuously arbitrary vehicular movement trajectories (VMTs) of dynamic clusters and multi-vehicles are imitated. A new method, which combines frequency-dependent path gain and spectral clustering algorithm in machine learning (ML), is proposed to model cooperative space-time-frequency (S-T-F) non-stationarity with cooperative time-space (T-S) consistency. Based upon Poisson and Bernoulli …