In view of the little studies on the car-following model of connected vehicles (CV) considering the actual traffic environment characteristics of vehicle-to-vehicle communication (V2V), this paper establishes the in-filed test scenarios of car-following behaviors in different operating conditions based on LTE-V vehicular communication, which can warn the following car early. A novel car-following model of CV with an early warning system is proposed, which is suitable for the complex traffic environment characteristics. The car-following behaviors based on LTE-V vehicular communication is studied using the in-field test data. Based on the analysis of prediction accuracy and goodness-of-fit of GM model, FVD model and an improved FVD models, a novel car-following model is proposed based on the improved FVD model. The proposed model takes into account the maneuver delay effect during transmission of acceleration information, which will cause the influence intensity of the acceleration of the leading vehicle on the following vehicle to attenuate, and uses the communication delay as the attenuation factor to characterize the law of information attenuation. The prediction effects of the improved FVD model and the proposed model are analyzed respectively in different traffic environments and different velocities. Experimental analysis results show that the proposed car-following model has a better prediction accuracy for the in-field test data, especially in low velocity driving condition or in simple traffic environment.

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