RFC 4891:Using IPsec to Secure IPv6-in-IPv4 Tunnel...
RFC-Ref

pre-shared key


Click on the red underlined text to get to the source

... IKEv2 can authenticate the peer by several methods. Pre-shared key and X.509 certificate-based authentication is required by ...
... authentication is required by [RFC4301]. At least, pre-shared key should be supported, because it interoperates with a larger number of implementations. ...



Google
Web
RFC-Ref