SD2PA: a fully safe driving and privacy-preserving authentication scheme for VANETs

Table 3 The security and privacy comparison

The security goals	[21]	[22]	[23]	SD2PA
Message integrity and authentication	✓	✓		✓
Identity privacy preserving	✓	✓	✓	✓
Traceability	✓	✓	✓	✓
Revocability	✓	X	✓	✓
Non-repudiation	✓	✓	✓	✓
Unlinkability	✓	✓	✓	✓
Resistance to modification attack	✓	✓	✓	✓
Resistance to replay attack	✓	✓	✓	✓
Resistance to impersonation attack	✓	✓	✓	✓
Lightweight	x	X	X	✓