To ensure the information security of the Vehicle Ad hoc Networks (VANETs), it is necessary to verify the integrity and identity of safety messages transmitted in the networks. Previous safety message verification schemes mostly focus on basic security messages, which are not appropriate for emergency messages in event-driven scenarios. The generation of emergency messages in the VANETs is often sudden and massive with strict time requirements, which is a great challenge for verification terminals with the limited computation capabilities. To address these issues, a collaborative-based batch verification scheme is proposed in this paper with the goal of maximizing the number of verified safety messages in the system during some time. This solution provides three message verification strategies for the collaborative node to address verification peaks under different scales emergency message broadcasting. Performance evaluation demonstrates that compared to the RSU centralized batch verification scheme, this scheme can significantly reduce the loss rate of safety messages that fail due to untimely verification in VANETs.