In this paper, we focus on the security and privacy-preserving by developing a dual authentication scheme for IoV according to its different scenarios. First, the OBU self-generates an anonymous identity and temporary encryption key to open an authentication session. Second, the legitimacy of the vehicle's real and anonymous identity can be verified by trust authority (TA). After that, the vehicle's reputation is evaluated according to its history interactive behavior and the session key for V2V can be finally established. There are three major advantages, including privacy-preserving and security enhancement without a burden of key management in the condition of acceptable time delay range, introducing trust evaluation into authentication protocol, as well as considering the vehicle behavior attributes in the new reputation evaluation method.