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There are always frustrations for drivers in finding parking spaces and being protected from auto theft. In this paper, to minimize the drivers' hassle and inconvenience, we propose a new intelligent secure privacy-preserving parking scheme through vehicular communications. The proposed scheme is characterized by employing parking lot RSUs to surveil and manage the whole parking lot and is enabled by communication between vehicles and the RSUs. Once vehicles that are equipped with wireless communication devices, which are also known as onboard units, enter the parking lot, the RSUs communicate with them and provide the drivers with real-time parking navigation service, secure intelligent antitheft protection, and friendly parking information dissemination. In addition, the drivers' privacy is not violated. Performance analysis through extensive simulations demonstrates the efficiency and practicality of the proposed scheme.