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In the past decades, Vehicular Ad hoc Networks (VANETs) have been increasingly developed. Providing secure and efficient communication is essential in VANETs. One of most important challenges in the secure and efficient communications is proposing an appropriate authentication scheme. In this paper, we suggest an efficient and novel authentication scheme for VANETs. In the proposed scheme, vehicles authenticate each other without any limitation such as need for group of signers, online Road Side Units (RSUs), a set of pseudo identities and tamper-proof devices. Moreover, our simulation shows that the proposed scheme is well designed and efficient. [ABSTRACT FROM AUTHOR]