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Vehicular ad hoc networks aim at enhancing road safety by providing vehicle-to-vehicle communications and safety-related applications. But safety-related applications, like Local Danger Warning, need a high trust level in received messages. Indeed, decisions are made depending on these messages. To increase the trustworthiness, a consensus mechanism is used. Thus, vehicles make a decision when a threshold is reached. Setting this threshold is of main importance because it impacts the decision delay, and thus, the remaining time for a driver reaction. In this paper, we investigate the problem of threshold establishment without globally unique identifier system (GUID). We propose to model the threshold as a Kalman filter and provide an algorithm to dynamically update the threshold. By simulations, we investigate the problem of insider attackers that generate information forgery attacks. Simulation results …