I. Introduction
The emergence of Intelligent Vehicles (IVs) shows great potential for improving traffic efficiency in vehicular networks. Equipped with on-board units (OBU) and a variety of sensors (e.g., multi-beam lidars and high-resolution cameras), IVs can sense the surrounding environment [1], [2] and receive messages from neighboring vehicles [3]. Moreover, 5G as a promising technology is gradually being applied to IVs, enabling them to communicate directly to the cloud server [4]. For instance, a vehicle could report a message to the server with overspeed evidence of a neighboring vehicle, or an urgent event (e.g., “There is an accident on road A!”). The server aggregates all messages for a specific event and figures out the credible one based on the honest majority that a majority of messages sent to the server are honest [5]. It then notifies other vehicles in the network about upcoming traffic situations and potential risks to enhance traffic safety and road efficiency.