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Autonomous vehicles (AVs) are increasingly common, although there remain a number of limitations that need to be addressed in order for their deployment to be more widespread. For example, to mitigate the failure of self-driving functions in AVs, introducing the remote control capability (which allows a human driver to operate the vehicle remotely in certain circumferences) is one of several countermeasures proposed. However, the remote control capability breaks the isolation of onboard driving systems and can be potentially exploited by malicious actors to take over control of the AVs; thus, risking the safety of the passengers and pedestrians (e.g., AVs are remotely taken over by terrorist groups to carry out coordinated attacks in places of mass gatherings). Therefore, security is a key, mandatory feature in the design of AVs. In this paper, we propose a cloud-centric three-factor authentication and key agreement …