# Federated Learning for Connected and Automated Vehicles: A Survey of Existing Approaches and Challenges

arXiv: https://arxiv.org/abs/2308.10407 · HTML: https://mlsanity.com/paper/2308.10407/

## Key facts

- Cited by 40 papers in the map (data through 14 Oct 2026).
- Builds on 106 of its 270 references that are in the map.
- First posted on arXiv 21 Aug 2023.

## Builds on (most cited first, 30 of 106)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Communication-Efficient Learning of Deep Networks from Decentralized Data](https://mlsanity.com/paper/1602.05629/) (2016)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Learning Phrase Representations using RNN Encoder-Decoder for Statistical Machine Translation](https://mlsanity.com/paper/1406.1078/) (2014)
- [Advances and Open Problems in Federated Learning](https://mlsanity.com/paper/1912.04977/) (2019)
- [Federated Optimization in Heterogeneous Networks](https://mlsanity.com/paper/1812.06127/) (2018)
- [Federated Learning: Strategies for Improving Communication Efficiency](https://mlsanity.com/paper/1610.05492/) (2016)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [On the Convergence of FedAvg on Non-IID Data](https://mlsanity.com/paper/1907.02189/) (2019)
- [Adaptive Federated Optimization](https://mlsanity.com/paper/2003.00295/) (2020)
- [End to End Learning for Self-Driving Cars](https://mlsanity.com/paper/1604.07316/) (2016)
- [Tackling the Objective Inconsistency Problem in Heterogeneous Federated Optimization](https://mlsanity.com/paper/2007.07481/) (2020)
- [BiSeNet: Bilateral Segmentation Network for Real-time Semantic Segmentation](https://mlsanity.com/paper/1808.00897/) (2018)
- [Federated Learning for Mobile Keyboard Prediction](https://mlsanity.com/paper/1811.03604/) (2018)
- [Federated Learning Based on Dynamic Regularization](https://mlsanity.com/paper/2111.04263/) (2021)
- [Object Detection with Deep Learning: A Review](https://mlsanity.com/paper/1807.05511/) (2018)
- [Adaptive Federated Learning in Resource Constrained Edge Computing Systems](https://mlsanity.com/paper/1804.05271/) (2018)
- [A Survey of Deep Learning Techniques for Autonomous Driving](https://mlsanity.com/paper/1910.07738/) (2019)
- [Client Selection for Federated Learning with Heterogeneous Resources in Mobile Edge](https://mlsanity.com/paper/1804.08333/) (2018)
- [Deep Spatio-Temporal Residual Networks for Citywide Crowd Flows Prediction](https://mlsanity.com/paper/1610.00081/) (2016)
- [V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformer](https://mlsanity.com/paper/2203.10638/) (2022)
- [A Field Guide to Federated Optimization](https://mlsanity.com/paper/2107.06917/) (2021)
- [A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles](https://mlsanity.com/paper/1604.07446/) (2016)
- [Federated Learning for Internet of Things: A Comprehensive Survey](https://mlsanity.com/paper/2104.07914/) (2021)

## Built on by (most cited first, 30 of 40)

- [RAD: Retrieval-Augmented Decision-Making of Meta-Actions with Vision-Language Models in Autonomous Driving](https://mlsanity.com/paper/2503.13861/) (2025)
- [Vehicle-to-Everything Cooperative Perception for Autonomous Driving](https://mlsanity.com/paper/2310.03525/) (2023)
- [Decentralized Low-Rank Fine-Tuning of Large Language Models](https://mlsanity.com/paper/2501.15361/) (2025)
- [Communication-Efficient Multimodal Federated Learning: Joint Modality and Client Selection](https://mlsanity.com/paper/2401.16685/) (2024)
- [Federated Learning for Cyber Physical Systems: A Comprehensive Survey](https://mlsanity.com/paper/2505.04873/) (2025)
- [FedMFS: Federated Multimodal Fusion Learning with Selective Modality Communication](https://mlsanity.com/paper/2310.07048/) (2023)
- [When Cars meet Drones: Hyperbolic Federated Learning for Source-Free Domain Adaptation in Adverse Weather](https://mlsanity.com/paper/2403.13762/) (2024)
- [Combining Federated Learning and Control: A Survey](https://mlsanity.com/paper/2407.11069/) (2024)
- [Large Language Models for Crash Detection in Video: A Survey of Methods, Datasets, and Challenges](https://mlsanity.com/paper/2507.02074/) (2025)
- [Digital Ethics in Federated Learning](https://mlsanity.com/paper/2310.03178/) (2023)
- [FedNMUT -- Federated Noisy Model Update Tracking Convergence Analysis](https://mlsanity.com/paper/2403.13247/) (2024)
- [On the Federated Learning Framework for Cooperative Perception](https://mlsanity.com/paper/2404.17147/) (2024)
- [Edge Case Detection in Automated Driving: Methods, Challenges, and Future Directions](https://mlsanity.com/paper/2410.08491/) (2024)
- [Mosaic: Data-Free Knowledge Distillation via Mixture-of-Experts for Heterogeneous Distributed Environments](https://mlsanity.com/paper/2505.19699/) (2025)
- [On the Conflict of Robustness and Learning in Collaborative Machine Learning](https://mlsanity.com/paper/2402.13700/) (2024)
- [Safeguarding connected autonomous vehicle communication: Protocols, intra- and inter-vehicular attacks and defenses](https://mlsanity.com/paper/2502.04201/) (2025)
- [Probabilistic Segmentation for Robust Field of View Estimation](https://mlsanity.com/paper/2503.07375/) (2025)
- [VREM-FL: Mobility-Aware Computation-Scheduling Co-Design for Vehicular Federated Learning](https://mlsanity.com/paper/2311.18741/) (2023)
- [Impact of Network Topology on Byzantine Resilience in Decentralized Federated Learning](https://mlsanity.com/paper/2407.05141/) (2024)
- [Client-Side Patching against Backdoor Attacks in Federated Learning](https://mlsanity.com/paper/2412.10605/) (2024)
- [Fine-Tuning Federated Learning-Based Intrusion Detection Systems for Transportation IoT](https://mlsanity.com/paper/2502.06099/) (2025)
- [Enhancing Trust Management System for Connected Autonomous Vehicles Using Machine Learning Methods: A Survey](https://mlsanity.com/paper/2505.07882/) (2025)
- [Avoid Forgetting by Preserving Global Knowledge Gradients in Federated Learning with Non-IID Data](https://mlsanity.com/paper/2505.20485/) (2025)
- [Federated Learning on Stochastic Neural Networks](https://mlsanity.com/paper/2506.08169/) (2025)
- [Lightweight Temporal Transformer Decomposition for Federated Autonomous Driving](https://mlsanity.com/paper/2506.23523/) (2025)
- [Privacy-Preserving Quantized Federated Learning with Diverse Precision](https://mlsanity.com/paper/2507.00920/) (2025)
- [Privacy-Preserving Driver Drowsiness Detection with Spatial Self-Attention and Federated Learning](https://mlsanity.com/paper/2508.00287/) (2025)
- [Enabling Federated Object Detection for Connected Autonomous Vehicles: A Deployment-Oriented Evaluation](https://mlsanity.com/paper/2509.01868/) (2025)
- [FRIEREN: Federated Learning with Vision-Language Regularization for Segmentation](https://mlsanity.com/paper/2510.02114/) (2025)
- [CEPerFed: Communication-Efficient Personalized Federated Learning for Multi-Pulse MRI Classification](https://mlsanity.com/paper/2510.17584/) (2025)

## Abstract (arXiv)

Machine learning (ML) is widely used for key tasks in Connected and Automated Vehicles (CAV), including perception, planning, and control. However, its reliance on vehicular data for model training presents significant challenges related to in-vehicle user privacy and communication overhead generated by massive data volumes. Federated learning (FL) is a decentralized ML approach that enables multiple vehicles to collaboratively develop models, broadening learning from various driving environments, enhancing overall performance, and simultaneously securing local vehicle data privacy and security. This survey paper presents a review of the advancements made in the application of FL for CAV (FL4CAV). First, centralized and decentralized frameworks of FL are analyzed, highlighting their key characteristics and methodologies. Second, diverse data sources, models, and data security techniques relevant to FL in CAVs are reviewed, emphasizing their significance in ensuring privacy and confidentiality. Third, specific applications of FL are explored, providing insight into the base models and datasets employed for each application. Finally, existing challenges for FL4CAV are listed and potential directions for future investigation to further enhance the effectiveness and efficiency of FL in the context of CAV are discussed.