Autonomous vehicles will establish a spontaneous connection over a wireless radio channel while coordinating actions and information. Vehicles will exchange warning messages over the wireless radio channel through Dedicated Short Range Communication IEEE 1609 with the Wireless Access in Vehicular Environment 802.11p. Unfortunately, the wireless communication among vehicles is vulnerable to security threats that may lead to very serious safety hazards. Security infrastructure is most important in such a hazardous scope of vehicles communication for coordinating actions and avoiding accidents on the roads. Therefore, these warning messages must incorporate an authentication factor such that a warning receiver is willing to accept the message and react in a timely manner. This work spans over three authentication protocols, namely, basic scheme, laser based scheme and PUF based scheme.