Edinburgh Napier University

  The rise of autonomous vehicles (AVs) brings with it the need for secure and privacy-preserving machine learning models. Federated learning (FL) allows AVs to collaboratively train models while keeping raw data localized. However, traditional FL systems are vulnerable to security threats, including adversarial attacks, data breaches, and dependency on a central aggregator, which can be a single point of failure. To address these concerns, this paper introduces a peer-to-peer decentralized federated learning system that integrates lightweight blockchain technology and Binius Zero-Knowledge Proofs (ZKPs) to enhance security and privacy. In this system, Binius ZKPs ensure that model updates are cryptographically verified without exposing sensitive information, guaranteeing data confidentiality and integrity during the learning process. The lightweight blockchain framework secures the network by creating an immutable, decentralized record of all model updates, thus preventing tampering, fraud, or unauthorized modifications. This decentralized approach eliminates the need for a central aggregator, significantly enhancing system resilience to attacks and making it suitable for dynamic environments like AV networks. Additionally, the system's design includes Byzantine resilience, providing protection against adversarial nodes and ensuring that the global model aggregation process remains robust even in the presence of malicious actors. Extensive performance evaluations demonstrate that the system achieves low-latency, scalability, and efficient resource usage while maintaining strong security and privacy guarantees, making it an ideal solution for real-time federated learning in autonomous vehicle networks. The proposed framework not only ensures privacy but also fosters trust among participants in a fully decentralized environment.