The rapid evolution of Connected and Autonomous Vehicles (CAVs) has led to a surge in research on efficient anomaly detection methods to ensure their safe and reliable operation. While state-of-the-art deep learning models offer promising results in this domain, their high computational requirements present challenges for deployment in resource-constrained environments, such as Electronic Control Units (ECU) in vehicles. In this context, we consider using the ensemble learning technique specifically the cascaded modeling approach for real-time and resource-efficient multivariate time series anomaly detection in CAVs. The study was done in collaboration with SCANIA, a transport solutions provider. The company is now undergoing a transformation of providing autonomous and sustainable solutions and this work will contribute towards that transformation. Our methodology employs unsupervised learning techniques to construct a cascade of models, comprising a coarse-grained model with lower computational complexity at level one, and a more intricate fine-grained model at level two. Furthermore, we incorporate cascaded model training to refine the complex model's ability to make decisions on uncertain and anomalous events, leveraging insights from the simpler model. Through extensive experimentation, we investigate the trade-off between model performance and computational complexity, demonstrating that our proposed cascaded model achieves greater efficiency with no performance degradation. Further, we do a comparative analysis of the impact of probabilistic versus deterministic approaches and assess the feasibility of model training at edge environments using the Federated Learning concept.