FedX: Privacy-Preserving Explainable Federated Ensemble Intrusion Detection System for Edge-Enabled Internet of Vehicles

The evolution from the Internet of Things (IoT) to the Internet of Vehicles (IoV) has expanded intelligent connectivity across embedded systems while increasing cybersecurity risks arising from large scale data exchange and device heterogeneity. As IoV environments become more dynamic and safety critical, centralized Intrusion Detection Systems (IDSs) face constraints related to latency, privacy exposure, and bandwidth overhead. These limitations motivate a transition to edge-enabled IoV architectures, where localized vehicular and anchor nodes supported by edge servers enable decentralized processing, enhanced privacy, and reduced communication load. To address these operational challenges, this paper proposes FedX (Federated Explainable Ensemble Intrusion Detection System), a privacy-preserving and explainable federated ensemble IDS that integrates XGBoost and LightGBM models across resource-constrained edge vehicles and roadside units (RSUs) to enable collaborative, low-latency anomaly detection without sharing raw data. By applying adaptive weighting based on model confidence and resource availability, FedX enhances robustness and efficiency while enabling explainable decisions via SHAP and LIME analysis, which highlights reliance on key features (flow duration, speed, RPM) for high-confidence (>97%) intrusion alerts grounded in domain-specific behavior. Privacy is further enforced through Gaussian differential privacy and secure aggregation to mitigate inference and inversion attacks. Experiments on the CICIoV2024 dataset show that FedX achieves 99.1% accuracy, outperforming existing federated ensemble IDS models by up to 2.1%. The system reduces communication overhead by 17% relative to full synchronization through adaptive weighted transmission and secure aggregation. It maintains negligible accuracy loss (<1.5%) under a strong privacy budget (ϵ = 1.1). The deployment of proposed IDS on Raspberry Pi 4 underscores its efficacy for edge computing. Experimental results indicate that adaptive weighting yields a 1.8% performance increase, while resource profiling shows 45% lower CPU utilization and over 50% lower power consumption compared with centralized baselines. The findings demonstrate that FedX, combined with explainable AI enables trustworthy, interpretable, and energy-efficient intrusion detection for secure next-generation Edge-enabled IoV networks.