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Anonymous authentication has significant contribution to privacy protection in safety message dissemination for Vehicular Ad Hoc Networks (VANETs); however, it suffers from heavy workload of vehicle revocation check and message signature verification, which leads to unsatisfactory timeliness and high message loss rate in heavy traffic situations. To manage these challenging problems, this paper proposes an efficient safety message authentication protocol for VANETs by combining batch group signature verification and our proposed Group Session Key (GSK). Specifically, our signature verification method for safety message can both achieve computation efficiency by reducing the number of computation operations of bilinear pairing and resist impersonation attack by using tracking key implement. GSK is associated with the forward and backward keys and is only shared among unrevoked vehicle within a group. Performance analysis and simulations demonstrate that our protocol can provide promising security against various common types of attackers and is more efficient than traditional group-signature-based authentication protocols, in terms of computation time cost, authentication delay and message loss rate.