A mobility model for connected vehicles induced by the fish school

With the rapid growth of wireless communication technologies, a large number of vehicles have formed a vehicular ad hoc network (VANET) and are cooperating with each other; thus, collision warning, road obstacle warning, intersection collision warning, and lane-change assistance can be improved [88,247]. These connected vehicles move in a cooperative manner, which is similar to some cooperative behaviors of animal flocking in nature. Therefore, it is convenient for researchers to model the connected vehicles as a group by drawing an analogy to animals flocking. The goals of this paper are twofold: (1) to mathematically model the cooperative movements of connected vehicles with wireless communications based on the fish school (2) to provide comprehensive evaluation of the influence of connected vehicles on safety and efficiency.