The Internet of Vehicles is a multi-trust domain autonomous network designed to provide real-time and reliable message services for vehicles, including road conditions, path planning, etc. However, due to factors such as the rapid movement of vehicle nodes, frequent network access, and uneven distribution of vehicle nodes, rapid cross-domain message authentication has become an important challenge. In order to enhance the security of cross-domain authentication in the Internet of Vehicles, this paper proposes a secure authentication key management protocol. In this protocol, the current domain's edge server comprehensively evaluates the vehicle by combining the real-time information of the vehicle and the information of the domains it has passed before. Once the assessment is qualified, the vehicle, with the assistance of TA, completes the establishment of session keys to achieve secure communication. This article uses BAN logic to formally prove the security of the protocol and analyzes its performance through network simulation tools. Experimental results demonstrate that the proposed scheme significantly improves security and performs well in terms of network performance.