Parameter-Efficient Federated Cooperative Learning for 3-D Object Detection in Autonomous Driving
Fangyuan Chi, Yixiao Wang, Panos Nasiopoulos, Victor C. M. Leung · IEEE Internet of Things Journal · 2025
In the rapidly evolving field of autonomous driving, accurately detecting and understanding dynamic environments remains a challenge. Federated learning (FL) offers a promising approach by integrating decentralized models from multiple connected autonomous vehicles (CAVs) to enhance the performance of deep-learning (DL)-based object detection methods. However, traditional FL faces hurdles, such as extensive data synchronization requirements, limited data variance, and high communication costs. This article introduces a federated cooperative learning framework that addresses these challenges by combining data from both CAVs and roadside units. The framework combines local cooperative perception with global FL through a parameter-efficient FL adapter and a lazy communication strategy, improving DL-based object detection capabilities across diverse driving scenarios while significantly reducing bandwidth requirements. We also present a novel multiagent-multitown dataset Vehicle-to-Everything-Fed, specifically developed to validate the effectiveness of our approach under various conditions. Notably, our framework retains 97.51% of the detection accuracy achieved by full-model FL, while utilizing only 1.4% of the bandwidth typically required, demonstrating substantial improvements over conventional FL strategies. This study underscores the potential of our tailored approach to substantially enhance autonomous vehicle technologies with minimal resource utilization.