# Clustered Vehicular Federated Learning: Process and Optimization

arXiv: https://arxiv.org/abs/2201.11271 · HTML: https://mlsanity.com/paper/2201.11271/

## Key facts

- Cited by 15 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 27 Jan 2022.

## Built on by (most cited first, 15 of 15)

- [Federated Learning for Connected and Automated Vehicles: A Survey of Existing Approaches and Challenges](https://mlsanity.com/paper/2308.10407/) (2023)
- [A Survey of Federated Learning for Connected and Automated Vehicles](https://mlsanity.com/paper/2303.10677/) (2023)
- [Resource Constrained Vehicular Edge Federated Learning with Highly Mobile Connected Vehicles](https://mlsanity.com/paper/2210.15496/) (2022)
- [Dynamic Heterogeneous Federated Learning with Multi-Level Prototypes](https://mlsanity.com/paper/2312.09881/) (2023)
- [Hierarchical Federated Learning in Multi-hop Cluster-Based VANETs](https://mlsanity.com/paper/2401.10361/) (2024)
- [Deep Reinforcement Learning Based Vehicle Selection for Asynchronous Federated Learning Enabled Vehicular Edge Computing](https://mlsanity.com/paper/2304.02832/) (2023)
- [Federated Learning-based MARL for Strengthening Physical-Layer Security in B5G Networks](https://mlsanity.com/paper/2507.06997/) (2025)
- [Optimizing Communication and Device Clustering for Clustered Federated Learning with Differential Privacy](https://mlsanity.com/paper/2507.07320/) (2025)
- [Combining Federated Learning and Control: A Survey](https://mlsanity.com/paper/2407.11069/) (2024)
- [Addressing Skewed Heterogeneity via Federated Prototype Rectification with Personalization](https://mlsanity.com/paper/2408.07966/) (2024)
- [A survey on Clustered Federated Learning: Taxonomy, Analysis and Applications](https://mlsanity.com/paper/2501.17512/) (2025)
- [Trust Driven On-Demand Scheme for Client Deployment in Federated Learning](https://mlsanity.com/paper/2405.00395/) (2024)
- [RIS-empowered Topology Control for Distributed Learning in Urban Air Mobility](https://mlsanity.com/paper/2403.05133/) (2024)
- [FLClear: Visually Verifiable Multi-Client Watermarking for Federated Learning](https://mlsanity.com/paper/2511.12663/) (2025)
- [QFed: Parameter-Compact Quantum-Classical Federated Learning](https://mlsanity.com/paper/2601.09809/) (2026)

## Abstract (arXiv)

Federated Learning (FL) is expected to play a prominent role for privacy-preserving machine learning (ML) in autonomous vehicles. FL involves the collaborative training of a single ML model among edge devices on their distributed datasets while keeping data locally. While FL requires less communication compared to classical distributed learning, it remains hard to scale for large models. In vehicular networks, FL must be adapted to the limited communication resources, the mobility of the edge nodes, and the statistical heterogeneity of data distributions. Indeed, a judicious utilization of the communication resources alongside new perceptive learning-oriented methods are vital. To this end, we propose a new architecture for vehicular FL and corresponding learning and scheduling processes. The architecture utilizes vehicular-to-vehicular(V2V) resources to bypass the communication bottleneck where clusters of vehicles train models simultaneously and only the aggregate of each cluster is sent to the multi-access edge (MEC) server. The cluster formation is adapted for single and multi-task learning, and takes into account both communication and learning aspects. We show through simulations that the proposed process is capable of improving the learning accuracy in several non-independent and-identically-distributed (non-i.i.d) and unbalanced datasets distributions, under mobility constraints, in comparison to standard FL.