I. Introduction
As the basic technology of the intelligent transportation systems (ITSs), the vehicular ad hoc networks (VANETs) have attracted much attention from both academia and industry. With the main goal of improving road safety and driving conditions, VANETs are established with two types of communications, namely, the vehicle-to-vehicle (V2V) communication and the vehicles-to-infrastructure (V2I) communication [1]. Through the dedicated short-range communication (DSRC), the vehicles can exchange safety messages in V2V and communicate directly with the roadside units (RSUs) in V2I [1]. Due to the open nature of VANETs, a privacy-preserving authentication scheme should be provided against potential attacks [2]. Without authentication, a malicious vehicle may impersonate any authorized vehicle to broadcast forged messages. Moreover, if the identity privacy is not preserved, the adversary can easily track the target vehicle by analyzing the broadcasted messages, which could be a serious threat to the drivers.