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As the use of autonomous vehicles increase, the transportation infrastructure as a whole becomes more susceptible to cyber-attacks due to the increase of components that can communicate with one another and the Internet. It has been shown that autonomous vehicles benefit greatly from cooperating to perform many cost and life-saving applications such as tailgating, advanced collision warning, and even traffic routing. To secure the transportation infrastructure against this increasing risk, this paper presents an efficient blockchain scheme for vehicular ad-hoc networks of autonomous vehicles. In the proposed scheme, every vehicle maintains blocks generated by its platoon which contain transactions that evaluate the actions of every vehicle. Thus, vehicles will possess different blocks and thus different blockchains as they join and leave platoons. No central blockchain is maintained. These blocks are used as a token by the vehicle to gain access to future platoons. The proposed scheme uses the Schnorr digital signature scheme to create a secure signature and reach consensus within the platoon. It is proven to be secure under the given assumptions.