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Few of proposed protocols that aim to secure in-vehicle networks consider how to generate group key between Electronic Control Units (ECUs) for message authentication or encryption. A key exchange protocol, which provides higher security and satisfies limited power of ECUs, is indispensable with the development of intelligent connected vehicle. In this article, we propose a protocol that allows key exchange as starting up and key refresh during driving. This protocol innovatively adopts Elliptic Curve Qu-Vanstone (ECQV) implicit certificate and Group Diffie-Hellman (GDH) protocol for group key generation, which enables decentralized negotiation and does not require pre-shared secrets as well, providing high security level for Controller Area Network (CAN). And our protocol considers as many CAN bus behaviors (e.g., ECU removing and rejoining dynamically) as possible. Subsequently, the security proof for …