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Secure and efficient access authentication is one of the most important security requirements for vehicular networks, but it is difficult to fulfill due to potential security attacks and long authentication delay caused by high vehicle mobility, etc. Most of the existing authentication protocols, either do not consider attacks like single point of failure or do not focus on reducing authentication delay. To address these issues, we introduce an edge-assisted decentralized authentication (EADA) architecture, which provides secure and more communication-efficient authentication by enabling an authentication server to delegate its authentication capability to distributed edge nodes (ENs) such as roadside units (RSUs) and base stations (BSs). Under the architecture, we propose a threshold mutual authentication protocol that supports fast handover, which involves two scenarios, Auth-I and Auth-II. Auth-I only happens once when a …