The concept of the Internet of Vehicles (IoV) has attracted the attention of many sectors such as the automotive industry, academia, engineering, etc., offering a wide variety of benefits, such as reduced congestion, safer driving, and less pollution. However, since the deployment of IoT based devices is in an open field, the IoV environments can be a vital issue in the absence of security protections. In this paper, we propose an efficient authentication scheme over blockchain, named EASBF, for secure fog computing-enabled internet of vehicles. Specifically, the proposed EASBF scheme consists of five phases: initialization, registration, mutual authentication, and exchanging keys, consensus, and certificate update. Based on the elliptic curve cryptography, one-way hash function, and blockchain technology, the EASBF scheme can achieve confidentiality, integrity, authenticity, privacy, anonymity, non-repudiation, and perfect forward secrecy. The EASBF scheme is robust against cyber attacks, including, DDoS attack, replay attack, man-in-the-middle attacks, identity theft attack, traffic analysis attack, masquerading attack, and session key disclosure attack. Both the AVISPA tool and the random oracle model are used in security analysis. Finally, we demonstrate the effectiveness of the EASBF scheme in terms of two performance metrics, namely, computation overhead, communication overhead, and storage overhead.
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