I. Introduction
Recent advances in wireless communication technologies and automobiles have fuelled the growth of Intelligent Transport System (ITS) which addresses various vehicular traffic issues like traffic congestion, information dissemination, accident etc. Vehicular ad hoc networks (VANET) is an integral component of ITS in which moving vehicles are connected and communicate wirelessly. IEEE 802.11p is proposed as the first wireless access standard in vehicular environment [1], [2], which promotes the development of VANET. In addition, the maturity of 5G technology injects huge potential into the VANET. With the higher reliability and lower latency of 5G [3], the layout of the automatic driving, intelligent transportation and intelligent city is certain to come true in the near future. Although the development of VANET is motivated by the formulation of the wireless communication technology (IEEE 802.11p or 5G), some security issues of communication are still unsolved [4], and one of the most serious issues is the key management.