Mobility Resilient Vehicular Federated Learning: Enhancing Training Efficiency in Dynamic Environments

The vehicular environment presents unique challenges, including massive data generation, stringent latency requirements for safety-critical applications, bandwidth limitations, and intermittent connectivity, which make centralized learning approaches impractical. Vehicular Federated Learning (VFL) enables distributed model training by leveraging local data from connected vehicles, while preserving data privacy and reducing network overhead. However, the dynamic nature of VFL presents several additional challenges. High vehicle mobility and unstable channels lead to inconsistent client participation, while heterogeneous vehicle capabilities result in unbalanced training workloads and competitive resource allocation. These challenges significantly degrade VFL model performance and prolong training periods. In this paper, we propose a Mobility Resilient Vehicular Federated Learning (MR-VFL) scheme, which comprises two key components: an amplification-based adaptive vehicular FL (AVFL) training scheme and a dual-timescale FL scheduler. Specifically, AVFL adapts local training epochs to vehicle capabilities to improve scheduling flexibility and alleviate the impact of insufficient local epochs on model updates, which enhances training efficiency and reduces communication competition. The dual-timescale FL scheduler includes a macro scheduling strategy that optimizes long-term VFL performance based on the correlation between convergence speed and model accuracy, and a Mamba-based real-time scheduler that enhances training efficiency and reduces decision latency in massive vehicles scenarios. Extensive simulations show that MR-VFL effectively mitigates performance degradation due to complex vehicle mobility and heterogeneity, and improves training efficiency.