FedVC: Virtual Clients for Federated Autonomous Driving With Imbalanced Label Distribution

Federated learning in autonomous driving safeguards the privacy of individual vehicles during collaborative training by avoiding the exchange of raw data. These vehicles often suffer from imbalanced label distribution, making the federated learning model developed from them critical for safety. Most current solutions addressing label imbalance in federated learning are oriented towards classification tasks. However, there is limited research focused on prediction tasks involving imbalanced datasets relevant to autonomous driving. To address the identified gap, we introduce an innovative peer-to-peer federated learning framework called FedVC. This framework includes the use of virtual clients to enhance the ability of the collaborative training process to recognize the global data distribution effectively. It strategically samples relevant segments of local data from various clients for each training round and controls the execution time for backpropagation associated with each virtual client. Importantly, FedVC constructs a global perspective by utilizing metadata from each client, thereby maintaining data privacy while overcoming the challenge of label imbalance in autonomous driving prediction tasks, all without the need to share any raw datasets. Experimental results demonstrate that FedVC outperforms classical FedAvg and the most recent methods at three steering angle prediction datasets with different levels of imbalanced label distribution. The source code is publicly available at <uri xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">https://github.com/aikedaerC/FedVC</uri>.