With the development of autonomous driving, the data security of the collaboration between vehicles plays a more important role. The research of auto drive systems is still in its infancy, this paper shows that the security mechanisms either depend on hardware or introduce high latency. This paper proposes a novel data protection strategy for efficient coordination across vehicle systems. Our design is based on an observation that the security demand in different phases varies. Specifically, for the external system, this paper proposes an information security scheme with a fine-grained attribute selection mechanism, which has the flexibility of encryption attribute selection. For the internal system, this paper proposes a dual-channel RSA encryption scheme that makes the control information transmission more robust and saves encryption delay. Experimental results illustrate that both security and low latency can be ensured with the proposed SACC.