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The application discloses a kind of based on cross-chain and DID's high-efficiency trusted identity authentication method of Internet of Vehicles, comprising: in key generation stage, identity management entity generates decentralized identity based on the registration request of target vehicle and issues verifiable identity credential, generates the digest or index mark corresponding to verifiable identity credential;In cross-domain identity authentication stage, when target vehicle v enters second trust domain, cross-domain authentication request is sent to second roadside unit, and cross-domain authentication request at least includes: the digest or index mark of verifiable identity credential, session-related temporary identification or pseudonym identification and the privacy proof information used to prove that target vehicle meets cross-domain access condition;Second roadside unit obtains the certificate state corresponding to digest or index mark;And when certificate state is valid, privacy proof information is verified, and cross-domain authentication is completed accordingly.The application realizes high-efficiency trusted authentication without revealing real identity and credential.