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In this paper, we propose an efficient pseudonymous authentication scheme with strong privacy preservation (PASS), for vehicular communications. Unlike traditional pseudonymous authentication schemes, the size of the certificate revocation list (CRL) in PASS is linear with the number of revoked vehicles and unrelated to how many pseudonymous certificates are held by the revoked vehicles. PASS supports the roadside unit (RSU)-aided distributed certificate service that allows the vehicles to update certificates on road, but the service overhead is almost unrelated to the number of updated certificates. Furthermore, PASS provides strong privacy preservation to the vehicles so that the adversaries cannot trace any vehicle, even though all RSUs have been compromised. Extensive simulations demonstrate that PASS outperforms previously reported schemes in terms of the revocation cost and the certificate updating overhead.