With the rapid development of vehicular ad hoc Network (VANET), it is gainingsignificant popularity and receiving increasing attentions from academics andindustry in security and efficiency. To address security and efficiency issues,a self-authentication and deniable efficient group key agreement protocol isproposed in this paper. This scheme establishes a group between road-side unit(RSU) and vehicles by using self-authentication without certificationauthority, and enhances certification efficiency by using group key (GK)transmission method. At the same time, to avoid the attacker to attack thelegal vehicle by RSU, we adopt deniable group key agreement method tonegotiation session key (sk) and use it to transmit GK between RSU. Inaddition, vehicles not only broadcast messages to other vehicles, but alsocommunicate with other members in the same group. So group communication isnecessary in VANET. Finally, the security and performance analysis shown thatour scheme is security, meanwhile the verification delay, transmissionoverheard and message delay are more efficient than other related schemes inauthentication, transmission and communication.
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