In order to solve the problems in cross-domain authentication for Vehicular Ad-hoc NETwork （VANET）， which include the inability to distinguish vehicle types， low efficiency in authentication， and insufficient security， a Cross-domain Handover Authentication Scheme for VANETs with Vehicle Type Verification （CHAS-VTV） was proposed. In specific， in order to solve key escrow and complex certificate management problems while improving cross-domain authentication efficiency， a certificateless cross-domain authentication mechanism based on the certificateless public key cryptography system was proposed； concerning the classified cross-domain authentication of vehicles， a dynamic accumulator-based mechanism was proposed to store and verify vehicle types； in order to solve the problem of repeated authentication among vehicles and multiple RoadSide Units （RSUs）， a Hash-based Message Authentication Code （HMAC）-based handover authentication mechanism was proposed， which enabled efficient handover authentication and key negotiation among vehicles and multiple RSUs. Performance analysis results show that compared to the existing cross-domain handover authentication schemes for VANET， CHAS-VTV reduces computational cost by at least 3.87% and communication cost by at least 14.28% in cross-domain authentication， while in handover authentication， it reduces computational cost by at least 18.09% and communication cost by at least 14.48%. Security analysis results show that CHAS-VTV scheme can resist various malicious attacks effectively， which includes public key substitution attacks， private key leakage attacks， and forgery attacks.