The rapid development of intelligent vehicle networking technology has posed new requirements for in-vehicle gateway authentication security in the heterogeneous Internet of Vehicles (IoV). The current research on network layer authentication mechanisms usually relies on PKI infrastructure and interactive key agreement protocols, which have poor support for mobile and multihomed devices. Due to bandwidth and interaction delay overheads, they are not suitable for heterogeneous IoV scenarios with network state fluctuations. In this study, we propose a data-driven noninteractive authentication scheme, a lightweight, stateless scheme supporting mobility and multihoming to meet the lightweight data security requirements of the IoV. Our scheme implements device authentication and noninteractive key agreement through context parameters during data communication. Due to saving the signaling interactive delay and certificate overhead, in the IoV scenario, the proposed scheme reduced the delay by 20.1% and 11.8%, respectively, in the authentication and handover processes and brought higher bandwidth aggregation efficiency.