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In this paper, we introduce a novel roadside unit (RSU)-aided message authentication scheme named RAISE, which makes RSUs responsible for verifying the authenticity of messages sent from vehicles and for notifying the results back to vehicles. In addition, RAISE adopts the k- anonymity property for preserving user privacy, where a message cannot be associated with a common vehicle. In the case of the absence of an RSU, we further propose a supplementary scheme, where vehicles would cooperatively work to probabilistically verify only a small percentage of these message signatures based on their own computing capacity. Extensive simulations are conducted to validate the proposed scheme. It is demonstrated that RAISE yields a much better performance than previously reported counterparts in terms of message loss ratio (LR) and delay.