With the rapid development of information and communication technology, Vehicular AD hoc Networks (VANET) has attracted more and more attention. In order to provide traffic safety services, vehicles frequently share information related to road traffic, such as vehicle motion data and traffic flow data. Reliable key generation is the basis of VANET security system construction. At present, most key generation schemes rely on a trusted third-party, so there are security risks. Traditional key agreement protocols have high overhead, and is not suitable for the latency-sensitive requirements of VANET. The physical layer security technology extracts the fingerprint of the wireless channel and the identity of the device, and generates the key quickly and in real time without the third party distribution. A physical layer key generation scheme based on Received Signal Strength (RSS) is proposed to realize Vehicle-to-Vehicle (V2V) secure communications. Firstly, a network model based on Long Short-Term Memory (LSTM) network and Kalman Filtering is proposed to effectively enhance the reciprocity of physical layer information in dynamic environment. Secondly, a lossless quantization scheme is proposed, which achieves a lower bit disagreement rate and a higher bit generation rate. Thirdly, the inconsistent bits are corrected by fuzzy extractor, the confidentiality of the key exchange process is enhanced by zero knowledge proof, and the security of the key is improved by using hash function for privacy amplification. Finally, the experimental results show that the proposed scheme has great improvements in data correlation, bit disagreement rate, bit generation rate and bit distribution randomness.