A vehicular ad hoc network (VANET) is a special mobile ad hoc network that provides vehicle collaborative security applications using intervehicle communication technology. The method enables vehicles to exchange information (e.g., emergency brake). In VANET, there are many vehicle platoon driving scenes, where vehicles with identical attributes (location, organization, etc.) are organized as a group. However, this organization causes the issue of security threats (message confidentiality, identity privacy, etc.) because of an unsafe wireless communication channel. To protect the security and privacy of group communication, it is necessary to design an effective group key agreement scheme. By negotiating a dynamic session secret key using a fixed roadside unit (RSU), which has stronger computational ability than the on-board unit (OBU) equipped on the vehicle, the designed scheme can help to provide more stable communication performance and speed up the encryption and decryption processes. To effectively implement the anonymous authentication mechanism and authentication efficiency, we use a batch authentication scheme and a shared secret key mechanism among the vehicles, RSUs and trusted authority (TA). We design an efficient group secret key agreement scheme, which satisfies the above communication and security requirements, protects the privacy of vehicles, and traces the real identity of the vehicle at a time when it is necessary. Computational analysis shows that the proposed scheme is secure and more efficient than existing schemes.