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Traffic management, road safety, and environmental impact are important issues in the modern world. These challenges are addressed by the application of sensing, control and communication methods of intelligent transportation systems (ITS). A part of ITS is a vehicular ad-hoc network (VANET) which means a wireless network of vehicles. However, communication among vehicles in a VANET exposes several security threats which need to be studied and addressed. In this review, firstly, the basic flow of VANET is illustrated focusing on its communication methods, architecture, characteristics, standards, and security facilities. Next, the attacks and threats for VANET are discussed. Moreover, the authentication systems are described by which vehicular networks can be protected from fake messages and malicious nodes. Security threats and counter measures are discussed for different remote vehicle communication methods namely, remote keyless entry system, dedicated short range communication, cellular scheme, Zigbee, Bluetooth, radio frequency identification, WiFi, WiMAX, and different direct vehicle communication methods namely on-board diagnosis and universal serial bus.