Abstract: In edge computing-based vehicular networking models, traditional security authentication schemes frequently face limitations due to the constrained computational resources of edge nodes, which makes it challenging to fulfill the requirements for both security and performance. A lightweight security authentication scheme for vehicular networks is proposed to address these issues. This scheme leveraged the characteristics of the physical layer wireless channel to extract physical layer keys, and adaptively employed single authentication and batch authentication. Security analysis demonstrates that this scheme can simultaneously achieve anonymity, traceability, and mutual authentication while resisting common attacks. Experimental results show that this scheme achieves better computational efficiency while ensuring security.