Traceable anonymous mutual trust authentication and key agreement method for Internet of Vehicles

The invention discloses a traceable anonymous mutual trust authentication and key negotiation method for the Internet of Vehicles, which comprises a system initialization stage, a registration stage and an authentication, key negotiation and system configuration parameter updating stage, and is characterized in that the system initialization stage is used for configuring a unique secret value K for a TA; the registration stage is used for realizing registration of the Vehile and the RSU in the TA, and the authentication, key negotiation and system configuration parameter updating stage is used for realizing bidirectional authentication between the Vehile and the RSU, between the RSU and the TA and between the Vehile and the TA, key negotiation between the Vehile and the RSU and updating of system configuration parameters. According to the method and the system, rapid authentication among the Vehile, the RSU and the TA and secrecy of message transmission between the Vehile and the RSU in a high-speed moving an