Abstract: Autonomous vehicles are the result of the combination of artificial intelligence and VANET. Because the autonomous vehicle can greatly free hands and improve traffic efficiency and safety, it has attracted wide attention of industry and researchers recently. While privacy issues such as instructions and vehicle identification have seriously hindered the application of autonomous car. The direct way to solve this problem is to expand the pseudonym-based communication schemes in VANET. However, most of these schemes not only impose a large storage burden on the vehicle but also fail to fully protect the identity privacy of the vehicle from being disclosed. In this paper, we propose an efficient and traceable anonymous VANET communication scheme for autonomous driving. In this scheme, a car is denoted by a set of attributes shared by multiple cars. Because of the one-to-many relationship between the attribute set and the vehicle, the anonymity of the vehicle is naturally realized. In addition, this scheme realizes the confidentiality of instructions and malicious vehicle tracking. In this paper, authentication encryption is integrated into attribute-based encryption scheme and a signcryption scheme is designed as the underlying technology to support the proposed anonymous communication scheme. Compared with the existing attribute-based signcryption schemes, this signcryption scheme is efficient and more suitable for automatic driving scenarios. Finally, the communication scheme is proved to be safe and efficient by formal security analysis and performance evaluation.