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In a VANET, generating a secure session key to facilitate subsequent data-in-transit transfer between two or more vehicles is crucial, which can be achieved by using an authenticated key agreement protocol. However, most of the existing identity-based two-party authenticated key agreement protocols have significant computational requirements or are known to be insecure. Thus, in this paper, a secure and efficient identity-based two-party authenticated key agreement protocol is presented by us. This protocol does not involve complex bilinear pairing computations and can generate a valid session key in two rounds. The security of the proposed protocol is proved in the eCK model which has better capability to describe a protocol\u2019s security than the famous CK model, and it has been widely used in the security proof of ID-based key agreement protocols currently. 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