I. Introduction
With the progress and extensive deployment of wireless communication technology, especially the gradual maturity of the driverless technology, which requires timely access to road and traffic information. The automobile manufacturing and telecommunications industries will equip each vehicle with wireless devices, which can enable vehicles to communicate with each other and with roadside infrastructure to help people or artificial intelligence better plan their journey and improve their driving experience. Such a vehicular ad hoc network (VANET) essentially provides us with an ideal method to collect dynamic traffic information and sense various physical quantities related to traffic assignment with very low cost and high precision. VANET has great potential in improving vehicle and road safety, traffic efficiency, convenience, and comfort for drivers and passengers. However, a series of problems related to message security, including message integrity, privacy protection, revocability, and traceability, must be considered before it can be deployed in the real environment [1], [2]. Only by solving the security problems reasonably, VANET can be applied on a large scale.