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Vehicular Cloud Computing (VCC) is a contemporary paradigm that includes the Internet of Things (IoT), cloud computing, and vehicular networking technologies. VCC offers vehicle-to-device, vehicle-to-infrastructure, and vehicle-to-vehicle communication in which the vehicles can communicate using sensing abilities. VCC is exploiting the IoT environment, cloud architecture, and vehicle resources. However, the energy-efficient privacy of communicators and security of communication are assertive problems in VCC. To accomplish this goal, we present an identity-based authentication scheme for VCC which also uses radio frequency identification (RFID). The security and robustness of the devised scheme are evaluated using informal and formal analysis. The informal analysis shows that our scheme is vigorous to resist various attacks. The formal analysis is done through Random Oracle Model (ROM) which shows that the scheme is secure and efficient. The performance of our scheme is also determined and compared with various related schemes which clearly illustrate the efficiency of the proposed scheme. Thus, our scheme is very efficient for employment in the VCC environment.