I. Introduction
IoV facilitates interconnections and interactions among smart vehicles, including data exchange and storage. Traditional centralized approaches to manage data collection and sharing in IoV have many limitations, such as the single point of failure, privacy leakage, low reliability, poor scalability, and absence of transparency. Instead, a distributed ledger - blockchain, has been recently proposed to enhance security, reliability and scalability, and preserve privacy of data management in IoV [1]. In blockchains, the data collected and exchanged by the vehicles are converted into blocks and verified by decentralized blockchain miners, i.e. RSUs, based on a predefined consensus algorithm. Due to low throughput of public consensus algorithms, e.g., proof-of-work (PoW) or proof-of-stake (PoS) [2], the IoV blockchains usually adopt consortium blockchain algorithms, such as delegated PoS (DPoS) [3] or practical Byzantine Fault Tolerance (pBFT) [4]. However, such consensus algorithms have a rather poor security - less than 33% of malicious miners can be tolerated. The main reason is that due to the small size of consortium blockchains, miners can easily collude with each other to falsely verify or reject the block [3].