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Billions of sensors and devices are connecting to the Internet of Thing (IoT) and generating massive data which are benefit for smart network systems. However, low-cost, secure, and efficient data collection from billions of IoT devices in smart city is a huge challenge. Recruiting mobile vehicles (MVs) has been proved to be an effective data collection scheme. However, the previous approaches rarely considered the security. In this paper, a novel Baseline Data based Verifiable Trust Evaluation (BD-VTE) scheme is proposed to guarantee security at a low cost. BD-VTE scheme includes Verifiable Trust Evaluation (VTE) mechanism, Effectiveness-based Incentive (EI) mechanism, and Secondary Path Planning (SPP) strategy, which are respectively used for reliable trust evaluation, reasonable reward, and efficient path adjustment. Among them, an active trust verification mechanism is innovatively proposed in the VTE …