The document proposes an efficient authentication scheme for vehicular ad hoc networks (VANETs) that addresses the limitations of existing signature methods based on trusted authorities, particularly the need for certificate distribution and revocation lists. By integrating self-healing key distribution and certificateless signatures in a semi-trusted authority environment, the new scheme eliminates the necessity for vehicles to store large CRLs, thus saving storage and improving communication efficiency. The scheme's realism is enhanced by its design, which aligns better with practical deployment needs in intelligent transportation systems.