A method of dynamically generating a domain based public group key and private member keys using a domain key agent, a domain key service of a domain key broker, and a domain key distribution center. The method includes: sending to the domain key service of a domain key broker a request for a private member key for the domain, wherein the request includes proof of possession of a vehicle private key associated with a vehicle certificate and a vehicle public key; receiving from the domain key service a private member key and a public group key; sending a message digitally signed using the member private key; verifying the digital signature on the received message using the public group key; and dynamically renewing the public group key and private member key based on the domain.