Scheduling compressed video frames for in-vehicle wireless networks

Abstract

The video stream scheduling unit can schedule resource allocations for each video frame of a plurality of video frames of video streams from a plurality of video sources based on compressed frame types of the video frames, determine that a total frequency bandwidth of scheduled resource allocations for frames that need to be transmitted simultaneously is greater than or equal to a threshold bandwidth, and receive the video streams from the plurality of video sources based on the scheduled resource allocations. The scheduling unit can delay or cancel video frames with low priority, or can instruct video sources to increase compression rates of the video streams.

Description

[0001] Cross-references to related applications

[0002] This application claims the benefit of U.S. non-provisional patent application serial number 17 / 320,881, filed May 14, 2021, entitled “SCHEDULING COMPRESSEDVIDEOFRAME FOR IN-VEHICLE WIRELESS NETWORKS”, the entire contents of which are expressly incorporated herein by reference. Technical Field

[0003] This disclosure generally relates to communication systems, and more specifically, to methods and apparatus for scheduling compressed video frames for wireless networks. Background Technology

[0004] Vehicle systems may include various processors and devices, as well as in-vehicle networks that interconnect these processors and devices. In-vehicle networks may include wired networks and / or wireless networks. Wired networks may have less interference and latency. Wireless networks can reduce manufacturing costs and offer flexible network configurations. Summary of the Invention

[0005] The following is a simplified summary of one or more aspects to provide a basic understanding of such aspects. This overview is not an exhaustive summary of all anticipated aspects, nor is it intended to identify key or important elements of all aspects, nor to depict the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed descriptions that follow.

[0006] In one aspect of this disclosure, methods, computer-readable media, and apparatus are provided. The apparatus may be a video stream scheduling unit, and the video stream scheduling apparatus may be configured to schedule resource allocation based on each video frame of a video stream from multiple video sources, where the compressed frame type is a video frame, and to receive video streams from the multiple video sources based on the scheduled resource allocation. The compressed frame type may include internal frames (I-frames), predicted frames (P-frames), or bidirectional frames (B-frames). In some aspects, resource allocation may be scheduled to minimize the maximum sum of time-frequency resources associated with the resource allocation in each time slot of the time slot set.

[0007] In some aspects, the video stream scheduling device can be configured to schedule resource allocation by determining that a first frame of a first video stream from a first video source and a second frame of a second video stream from a second video source need to be transmitted simultaneously (the first frame and the second frame have the same compressed frame type), and determining that the first video stream has a higher priority than the second video stream, and scheduling resource allocation for the first frame of the first video stream before the second frame of the second video stream based on the determination that the first video stream has a higher priority. In one aspect, the compressed frame type of the first frame and the second frame is each an I-frame. In some aspects, the video stream scheduling device can determine the priority of the first video stream and the second video stream based on at least one of the following: the relative position of the vehicle; the operation of the vehicle, including at least one of direction, speed, or acceleration; the external environment of the vehicle, including interference from other wireless devices; the position of the video source; the receiving direction of the video source relative to the vehicle; or the resolution of the video source.

[0008] In some aspects, the video stream scheduling apparatus can be configured to schedule resource allocation by determining that the sum of time-frequency resources for scheduled resource allocations that need to be transmitted simultaneously for a first frame from a first video stream from a first video source and a second frame from a second video stream from a second video source is greater than or equal to a threshold, determining which of the first and second frames has a higher frame priority, and scheduling resource allocations for one of the first or second frames with a higher frame priority before the other of the first or second frames with a lower frame priority. In some aspects, the video stream scheduling apparatus can be configured to determine which of the first and second frames has a higher frame priority, including determining that an I-frame has a higher frame priority than a P-frame or a B-frame, and determining that a P-frame has a higher frame priority than a B-frame.

[0009] In one aspect, the video stream scheduling device may be further configured to: schedule resource allocation for a first frame of the first video stream in a first time slot based on a determination that the first video stream has a higher priority than the second video stream, and schedule resource allocation for a second frame of the second video stream in a second time slot following the first time slot based on the determination that the first video stream has a higher priority than the second video stream. In another aspect, the video stream scheduling device may be further configured to cancel the transmission of a second frame of the second video stream based on a determination that the first video stream has a higher priority than the second video stream. In yet another aspect, the video stream scheduling device may be configured to instruct a second video source to increase the video compression rate of the second video stream based on a determination that the first video stream has a higher priority.

[0010] To achieve the foregoing and related objectives, one or more aspects include the features fully described below and specifically pointed out in the claims. The following description and drawings set forth certain illustrative features of one or more aspects in detail. However, these features indicate only a few of the various ways in which the principles of these aspects may be applied, and this specification is intended to include all such aspects and their equivalents. Attached Figure Description

[0011] Figure 1 This is a diagram illustrating an example of an in-vehicle network used for compressed video data transmission.

[0012] Figure 2 An example of a compressed video frame is shown.

[0013] Figure 3 An example of time-frequency resource allocation for transmitting video streams is shown.

[0014] Figure 4 An example of time-frequency resource allocation for transmitting video streams is shown.

[0015] Figure 5 An example of time-frequency resource allocation for transmitting video streams is shown.

[0016] Figure 6 This is a call flowchart for wireless communication.

[0017] Figure 7 This is a flowchart of a wireless communication method.

[0018] Figure 8 This is a flowchart of a wireless communication method.

[0019] Figure 9 This is a schematic diagram illustrating an example of a hardware implementation for the example device. Detailed Implementation

[0020] The detailed description below, taken in conjunction with the accompanying drawings, is intended as a description of various configurations and is not intended to represent the only configuration in which the concepts described herein can be practiced. To provide a thorough understanding of the various concepts, the detailed description includes specific details. However, it will be apparent to those skilled in the art that these concepts can be practiced without these specific details. In some cases, well-known structures and components are shown in block diagram form to avoid obscuring such concepts.

[0021] Several aspects of a telecommunications system will now be described with reference to various apparatuses and methods. These apparatuses and methods will be described in detail below and illustrated in the accompanying drawings by various blocks, components, circuits, processes, algorithms, etc. (collectively, “elements”). These elements can be implemented using electronic hardware, computer software, or any combination thereof. Whether such an element is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system.

[0022] For example, an element, or any part of an element, or any combination of elements, can be implemented as a "processing system" that includes one or more processors. Examples of processors include microprocessors, microcontrollers, graphics processing units (GPUs), central processing units (CPUs), application processors, digital signal processors (DSPs), reduced instruction set computing (RISC) processors, system-on-a-chip (SoCs), baseband processors, field-programmable gate arrays (FPGAs), programmable logic devices (PLDs), state machines, gated logic, discrete hardware circuits, and other suitable hardware configured to perform the various functions described throughout this disclosure. One or more processors in a processing system can execute software. Whether referred to as software, firmware, middleware, microcode, hardware description language, or other names, software should be broadly interpreted as meaning instructions, instruction sets, code, code segments, program code, programs, subroutines, software components, applications, software applications, software packages, routines, subroutines, objects, executable files, threads of execution, procedures, functions, etc.

[0023] Accordingly, in one or more example embodiments, the described functionality can be implemented using hardware, software, or any combination thereof. If implemented in software, the functionality can be stored or encoded as one or more instructions or code on a computer-readable medium. A computer-readable medium includes a computer storage medium. The storage medium can be any available medium accessible to a computer. By way of example, and not limitation, such a computer-readable medium can include random access memory (RAM), read-only memory (ROM), electrically erasable programmable ROM (EEPROM), optical disk storage, magnetic disk storage, other magnetic storage devices, combinations of computer-readable media of the types described above, or any other medium capable of storing computer-executable code in the form of instructions or data structures accessible to a computer.

[0024] Figure 1This diagram illustrates an example of an in-vehicle network 100 for compressed video data transmission. The example of the in-vehicle network 100 may include an in-vehicle CPU 102, multiple devices 104, 106, 108, 110, 112, 114, and 116, component 120, and communication module 130. The in-vehicle CPU 102 may include a Full Authority Digital Engine (or Electronic) Controller (FADEC), which includes an engine control unit (ECU), an engine control module (ECM), a powertrain control module (PCM), an electronic engine management system (EEMS), electronic engine control (EEC), an engine management system (EMS), a safety system, or an infotainment system. Figure 1 An in-vehicle CPU 102 is shown, but the present disclosure is not limited thereto, and the in-vehicle network 100 may include any number of in-vehicle CPUs 102 and any combination of in-vehicle CPUs 102.

[0025] In some respects, the on-board CPU 102 can be connected to components 120 on the vehicle, including but not limited to motors, sensors / actuators, displays, meters, pumps, or any other similar devices. Figure 1 The example shown of the vehicle network 100 includes a component 120, but the aspects of this disclosure are not limited thereto, and the vehicle network 100 may include any number of components 120.

[0026] In some aspects, the vehicle-mounted CPU 102 may include or be connected to the communication module 130 for wireless communication with the base station 140 or another UE and / or vehicle 142. Examples of wireless communication systems between the communication module 130 and the base station 140 or another UE and / or vehicle 142 may include any applicable form of wireless wide area network (WWAN) communication, including 5G NR, LTE, LTE-A, sidelink communication, CDMA, GSM, and other wireless technologies. In one aspect, the vehicle-mounted CPU 102 may receive scheduling information from another UE and / or vehicle 142 that may adversely affect the vehicle network 100 (e.g., interference). In another aspect, the vehicle-mounted CPU 102 may receive operational information from another UE and / or vehicle 142 relative to the vehicle including the vehicle-mounted CPU 102. Figure 1 The example shown of the vehicle network 100 includes a communication module 130, but the aspects of this disclosure are not limited thereto, and the vehicle network 100 may include any number of communication modules 130.

[0027] In some aspects, the vehicle-mounted CPU 102 can be connected to multiple devices 104, 106, 108, 110, 112, 114, and 116. These devices 104, 106, 108, 110, 112, 114, and 116 can be arranged in their respective positions within the vehicle, facing different receiving directions relative to the vehicle. For example, the first device 104 can be arranged at the front of the vehicle, facing forward; the second and third devices 106 can be arranged on the left side of the vehicle, facing forward and rearward, respectively; the fourth device 110 and the fifth device 112 can be arranged on the right side of the vehicle, facing forward and rearward, respectively; the sixth device 114 can be arranged on the reading side of the vehicle, facing rearward; and the seventh device 116 can be arranged on the roof of the vehicle to acquire information from the vehicle's surroundings. For example, the seventh device 116 can acquire panoramic images of the surrounding environment, such as 180-degree or 360-degree images.

[0028] The multiple devices may include various sensors. These sensors may include, but are not limited to, temperature sensors, proximity sensors, pressure sensors, position sensors, photoelectric sensors, motion sensors, humidity sensors, electrical sensors, and remote sensors. Remote sensors may include, but are not limited to, cameras, video streaming devices, sound detection and ranging (SODAR) sensors, radio detection and ranging (RADAR) sensors, and light detection and ranging (LiDAR) sensors. The remote sensors can generate video streams of images and send these streams to the onboard CPU 102. The multiple devices 104, 106, 108, 110, 112, 114, and 116 may be arranged to face their respective directions. These aspects of the disclosure are not limited to... Figure 1 The number and orientation of the devices shown, and any applicable number of devices can be provided to face their respective orientations.

[0029] The connection between the vehicle CPU 102 and multiple devices 104, 106, 108, 110, 112, 114 and 116, component 120 and / or communication module 130 may include one or more wired / wireless connections, including but not limited to Bluetooth, wireless local area network (WLAN), side link communication, etc.

[0030] Recent advancements in automotive electronics technology have led to expanded applications, such as advanced driver assistance systems (ADAS), safety features, and infotainment services. This has resulted in increased capabilities and numbers of onboard CPUs 102, as well as an increased number of components to support these expanded features. For example, components provided to support these expanded features may include associated distributed networks of sensors, video streaming units, radar, etc. The interconnection between the onboard CPU 102 and components within the vehicle can impose an extensive and complex wiring infrastructure. This complex wiring infrastructure can increase design complexity, manufacturing costs, or production steps. In one example, the wiring harnesses used for the complex wiring infrastructure connecting the components could weigh up to 60 kg.

[0031] In some aspects, the in-vehicle network 100 may include a wireless in-vehicle network that can provide wireless connectivity to various components / devices on the vehicle. Wireless in-vehicle networks can replace or reduce the number of wires in a wiring harness. Wireless in-vehicle networks may offer various advantages, including reduced manufacturing costs, improved fuel efficiency, and increased design flexibility. Research in the field of wireless in-vehicle networks has made some progress, and further research can address application issues for improved vehicles.

[0032] In some aspects, the vehicle CPU 102 may include an infotainment system that can provide a wide range of in-vehicle infotainment and multimedia services to the driver and passengers, such as road monitoring video from multiple cameras mounted on the vehicle, video screenshots highlighting traffic conditions on roads and highways along the planned route, and entertainment multimedia applications for seated passengers. In some aspects, the vehicle CPU 102 may include a FADEC and receive information from multiple devices 104, 106, 108, 110, 112, 114, and 116. In some aspects, the multiple devices 104, 106, 108, 110, 112, 114, and 116 may be remote sensors configured to generate video streams and send said video streams to the vehicle CPU 102, and the vehicle CPU 102 may receive video streams from the multiple devices 104, 106, 108, 110, 112, 114, and 116. The onboard CPU 102 can analyze video streams received from multiple devices 104, 106, 108, 110, 112, 114, and 116, and provide various controls for the vehicle. For example, the onboard CPU 102 can provide various services based on the received video streams, such as autonomous driving, active or passive lane keeping assist, collision warning / prevention, intelligent / adaptive cruise control, etc.

[0033] Given the increased number and bandwidth of camera / video streaming devices, and the limited physical resources (i.e., frequency-time resources) of the in-vehicle network 100, including the wireless in-vehicle network, for transmitting video streams, the video streams can be compressed before being sent to the in-vehicle CPU 102. That is, the video streams can be compressed to accommodate the bandwidth of the wireless in-vehicle communication. For example, a decompressed frame of a 1280x960 pixel video stream with 24 bits per pixel can have a bandwidth of (Frame_Height) x (Frame_Width) x (Bits_Per Pixel) = 1280 x 960 x 24 = 29.49 megabits per second (Mbps), and since the video stream is at 30 frames per second (fps), the wireless in-vehicle device might require a network data transmission rate of 1280 x 960 x 30 x 24 = 884.74 megabits per second (Mbps) to support this single video stream. In some aspects, video stream frames can be compressed to accommodate network bandwidth and data transmission speed. In other aspects, resource allocation schemes can be provided to accommodate compressed video streams, which can provide more efficient resource allocation and reduce latency in wireless vehicular communications.

[0034] In some aspects, wireless vehicular communications may be subject to interference from the external environment 144. That is, the vehicle may receive wireless signals from the external environment that could interfere with the wireless vehicular network between the onboard CPU 102, multiple devices 104, 106, 108, 110, 112, 114 and 116, component 120, or communication module 130. In some aspects, resource allocation schemes can be provided to reduce the impact of interference 144 received from the external environment, thereby improving quality of service and reducing latency in wireless vehicular communications.

[0035] Figure 2 Example 200 of a compressed video frame is shown. Example 200 of a compressed video frame may include one (1) I frame 202, two (2) P frames 204 and 206 and / or six (6) B frames 208, 210, 212, 214, 216 and 218.

[0036] In some respects, video frames can be compressed using different algorithms. The algorithm used to compress video frames in a video stream can be based on the amount of data compression. Video compression can include different types of video frames generated by different compression algorithms. In some respects, the frame type, depending on the different video compression algorithms, can include three main frame types: I-frames, P-frames, and B-frames. P-frames and B-frames can be collectively referred to as delta frames.

[0037] An I-frame can be an independently compressed video frame. An I-frame can be the least compressible frame, and other video frames may not be referenced when decoding an I-frame. That is, an I-frame can be a complete image, similar to a Joint Photographic Group (JPG) image file or a Bitmap (BMP) image file. Example 200 shows that an I-frame 202 can be independently compressed and / or decompressed without reference to other video frames. I-frames, P-frames, and / or B-frames can be compressed and / or decompressed using any applicable form of video compression technology (e.g., Moving Picture Experts Group (MPEG) series, H.264, H.265, etc.).

[0038] P-frames can be compressed and / or decompressed using data from at least one preceding / previous frame. That is, a P-frame can include changes in image data relative to at least one preceding frame. A preceding frame can include an I-frame or a preceding P-frame. In other words, a P-frame can be compressed and / or decompressed with reference to at least one preceding I-frame or P-frame. P-frames may be easier to compress than I-frames. For example, in a video stream of a car crossing a static background, the movement of the car may need to be encoded. The encoder may not need to store invariant background pixels in the P-frame, thus preserving bandwidth and / or resources for transmitting the P-frame. Example 200 shows that a first P-frame 204 can be compressed and / or decompressed with reference to an I-frame 202 preceding the first P-frame 204, and a second P-frame 206 can be compressed and / or decompressed with reference to the first P-frame 204 preceding the second P-frame 206.

[0039] B-frames can reference at least one preceding / previous frame and at least one subsequent / following frame as data references to achieve the highest data compression rate. That is, B-frames can reference preceding and following frames to compress and / or decompress themselves. Example 200 shows that first B-frame 208, second B-frame 210, and third B-frame 212 can be compressed and / or decompressed using data from I-frame 202 and first P-frame 204. Furthermore, fourth B-frame 214, fifth B-frame 216, and sixth B-frame 218 can be compressed and / or decompressed using data from first P-frame 204 and second P-frame 206.

[0040] In some aspects, each video stream may include a group of compressed video frames, including I-frames, P-frames, and B-frames in a specific pattern. The pattern of the compressed video frames can be maintained throughout the transmission of each video stream. That is, the patterns of the I-frames, P-frames, and B-frames of the video stream can remain unchanged within the transmission of each video stream. For example, example 200 of compressed video frames can be used throughout the video stream with an IBBPBBI frame pattern.

[0041] Figure 3 and Figure 4 This illustrates an example of time-frequency resource allocation used for transmitting video streams. (See reference...) Figure 3 and Figure 4 It may be necessary to transmit a first video stream or a second video stream. The scheduling unit can schedule resource allocations for transmitting a first video stream or a second video stream from one or more video sources. That is, the scheduling unit can schedule resource allocations for one or more video sources to send a first video stream or a second video stream. In one aspect, the scheduling unit can be an onboard CPU. In another aspect, the scheduling unit can be configured to schedule resource allocations to receive a first video stream or a second video stream and send the received first video stream or second video stream to the onboard CPU.

[0042] Figure 3 The bandwidth 300 of the first and second video streams is shown. The first and second video streams may have different compressed frame modes and different maximum sizes configured for each compressed frame type. The first video stream may have a first compressed frame mode of IBBPBBI. That is, the first video stream may have a first compressed frame mode of IBBPBBI, which includes a first I-frame 302, a first B-frame 304, and a first P-frame 306. In one aspect, the first I-frame 302 may have a maximum size of 400 kilobits (kB), the first P-frame 306 may have a maximum size of 300 kB, and the first B-frame 304 may have a maximum size of 100 kB. In one aspect, the first video stream may have a first bandwidth BW corresponding to the maximum size of the first I-frame 302 of the first video stream. A For example, the first bandwidth BW A This can correspond to a maximum size of 400kB configured for the first I-frame 302.

[0043] The second video stream may have a second compressed frame mode of IBPBI. That is, the second video stream may have a second compressed frame mode of IBPBI, comprising a second I-frame 312, a second B-frame 314, and a second P-frame 316. In one aspect, the second I-frame 312 may have a maximum size of 900kB, the second P-frame 316 may have a maximum size of 400kB, and the second B-frame 314 may have a maximum size of 200kB. In one aspect, the second video stream may have a first bandwidth BW corresponding to the maximum size of the second I-frame 312 of the second video stream. B For example, the second bandwidth BW B This can correspond to the maximum size of 900kB configured for the second I-frame 312.

[0044] Both the first and second video streams can have a frame rate of 30 fps. In some aspects, the onboard scheduling unit can know in advance at least one of the compressed frame patterns of the first and second video streams and the maximum size of each compressed frame. The scheduling unit can allocate time-frequency resources based on at least one of the compressed frame patterns of the video streams from different video sources and the maximum size of each compressed frame, depending on the compressed frame type of the video frames to be transmitted in a given time slot.

[0045] In some aspects, the onboard scheduling unit at a given time slot can allocate time-frequency resources based on the type of compressed frames that need to be transmitted from the video source. Therefore, the onboard scheduling unit can provide improved support for an increased number of video sources. Furthermore, the scheduling unit can schedule a first video source and a second video source, allowing I-frames from different video sources to be scheduled in different time slots. The scheduling unit can then have better time-frequency resource management across time slots. Therefore, the scheduling unit can schedule the transmission of video streams on the onboard wireless network based on the frame structure of the stream source, thereby improving overall spectral efficiency and reducing overall stream latency or delay.

[0046] Figure 4 Examples 400, 420, 430, and 440 are shown for time-frequency resource allocation for transmitting a first video stream and a second video stream. In some aspects, the scheduling unit can control resource allocation for multiple components (e.g., multiple devices 104, 106, 108, 110, 112, 114, and 116) in the network by taking into account the compressed frame type (including I-frames, B-frames, and P-frames) when scheduling time-frequency resources for transmitting video streams from video sources. That is, the scheduling unit can schedule the time-frequency resource allocation for each video frame in the video stream based on the compressed frame type of the video frame. Therefore, due to the different nature of the compressed frames, the time-frequency resources used to support the maximum number of bits specified for I-frames, P-frames, and B-frames may also be different.

[0047] In some aspects, a first video frame of a first video stream and a second video frame of a second video stream, having the same compressed frame type, may simultaneously need to be transmitted in the same time slot. Referring to Example 400, a first I-frame 402 of the first video stream and a second I-frame 412 of the second video stream may simultaneously need to be transmitted in the same time slot. The scheduling unit may determine that the first I-frame 402 of the first video stream and the second I-frame 412 of the second video stream simultaneously need to be transmitted in the same time slot, and the scheduling unit may compare the priorities of the first video stream and the second video stream to schedule the first I-frame 402 and / or the second I-frame 412 in the first time slot. That is, when it is determined that the first video stream has a higher priority than the second video stream, the scheduling unit may schedule time-frequency resource allocation for the first I-frame 402 in the first time slot.

[0048] In some aspects, the first time slot can be the same time slot in which the first I-frame 402 and the second I-frame 412 need to be transmitted simultaneously. That is, the scheduling unit can determine that the first video stream has a higher priority than the second video stream and can schedule the first I-frame 402 at the first time slot without any additional time delay from the time slot in which the first I-frame 402 and the second I-frame 412 initially need to be transmitted simultaneously.

[0049] In some aspects, the first timeslot may differ from the timeslot where the first I-frame 402 and the second I-frame 412 are simultaneously required to be transmitted. In one aspect, the first timeslot may be scheduled with an additional time delay from the timeslot where the first I-frame 402 and the second I-frame 412 were initially required to be transmitted simultaneously. In some aspects, the scheduler may determine the first timeslot based on the conditions of the wireless network, and schedule resource allocation for the first I-frame 402 of the first video stream, which is determined to have a higher priority, within that timeslot.

[0050] In one aspect, the scheduler may consider interference from the external environment / wireless device (e.g., interference 144). The scheduler may detect interference from the external environment and schedule resource allocation for a first I-frame 402 of a first video stream, which has a higher priority in a first time slot where the impact from external interference is expected to be minimal or reduced. In another aspect, the scheduler may receive scheduling information from the external environment / wireless device (e.g., another UE and / or vehicle 142) regarding wireless communications that may have an adverse effect (e.g., interference). The scheduler may consider the scheduling information regarding wireless communications from the external environment / wireless device and schedule resource allocation for a first I-frame 402 of a first video stream with a higher priority in a first time slot where the impact from wireless communications from the external environment / wireless device is expected to be minimal or reduced.

[0051] In some aspects, the scheduling unit can determine that a first video frame of a first video stream and a second video frame of a second video stream having the same compressed frame type need to be transmitted simultaneously in the same time slot, and schedule the first frame and the second frame in different time slots. That is, the scheduling unit can determine that a first video frame of a first video stream and a second video frame of a second video stream having the same compressed frame type need to be transmitted simultaneously in the same time slot, and the scheduling unit can schedule the first frame of the first video stream in a first time slot and the second frame of the second video stream in a second time slot. Referring to Example 420, the time-frequency resources scheduled for transmitting the second video stream (including the second I-frame 422, the second B-frame 424, and the second P-frame 426) can be configured to begin in a second time slot with a first time delay from the first time slot. The first time delay can be configured such that the first I-frame 402 and the second I-frame 412 do not overlap in the time domain. Therefore, the first I-frame 402 and the second I-frame 422 can be scheduled in different time slots to improve overall spectral efficiency and reduce overall stream latency.

[0052] In some aspects, the scheduling unit can determine that the first I-frame 402 of the first video stream and the second I-frame 412 of the second video stream need to be transmitted simultaneously in the same time slot, compare the priorities of the first and second video streams, and instruct one of the first or second video sources to increase the video compression rate of its respective video stream with the lower priority. That is, the scheduling unit can determine that the first video stream has a higher priority than the second video stream, and the scheduling unit can schedule time-frequency resource allocation for both the first and second video streams in the first time slot, and instruct the second video source to increase the video compression rate of the second video stream. Referring to Example 430, the time-frequency resource allocation for transmitting the second video stream (including the second I-frame 432, the second B-frame 434, and the second P-frame 436) with the increased video compression rate can be configured to begin in the first time slot. Therefore, the maximum size of the second I-frame 422 can be reduced to improve overall spectral efficiency and reduce overall stream latency.

[0053] In some aspects, the scheduling unit can determine that a first I-frame 402 of the first video stream and a second I-frame 422 of the second video stream simultaneously need to be transmitted in the same time slot, and the scheduling unit can compare the priorities of the first and second video streams to determine which of the first I-frame 402 or the second I-frame 422 should be scheduled in the first time slot, and cancel the other video stream. Referring to Example 440, the scheduling unit can determine that a first I-frame 402 of the first video stream and a second I-frame 442 of the second video stream simultaneously need to be transmitted in the same time slot. The scheduling unit can determine that the first video stream has a higher priority than the second video stream, schedule time-frequency resource allocation for the first I-frame 402 of the first video stream in the first time slot, and cancel the transmission of the second I-frame 442 of the second video stream. Resource allocation for the remaining video frames of the second video stream (including the second B-frame 414 and the second P-frame 416) can be scheduled. Therefore, the overall spectral efficiency can be improved.

[0054] In some respects, the priority of the first and second video streams may be determined based on one or more of the following: the relative position of the vehicle; the operation of the vehicle, including at least one of direction, speed, or acceleration; the external environment of the vehicle, including interference from other wireless devices; the position of the video source; the receiving direction of the video source relative to the vehicle; or the resolution of the video source.

[0055] In one aspect, the priority of the video stream can be determined at least based on the vehicle's location. The vehicle's location can include its geographic location, such as its GPS coordinates or orientation, the time of day the vehicle operates, and its lane position on the road. For example, when the vehicle is in the left lane, a video source positioned to the left of the vehicle (such as...) Figure 1 The 106 and / or 108 video streams shown may have a lower resolution than the video source located on the right side of the vehicle (e.g., Figure 1 The priority of the video streams shown as 110 and / or 112).

[0056] In one aspect, the priority of the video stream can be determined at least based on the vehicle's actions. Vehicle actions can include the vehicle's direction, speed, or acceleration. In some aspects, the vehicle can drive in a lane, change lanes on the road, make left or right turns, reverse, park, etc. For example, when the vehicle is driving in a lane, the front-facing camera (e.g., Figure 1 The video stream from camera 104 (as shown) may have high priority. When a vehicle changes lanes or turns on the road, the video stream from the camera on the respective side facing the lane change or turn may have higher priority compared to other cameras. When the vehicle is parked, the rear camera (such as...) Figure 1 The 114 shown) and / or 360-degree camera (such as Figure 1The video stream shown in 116 may have a higher priority compared to other cameras.

[0057] In some aspects, the priority of video streams can be determined at least based on the vehicle's external environment. This external environment may include traffic flow, ambient lighting, interference from other wireless devices, etc. For example, when there is heavier traffic on the right side of the vehicle, video sources positioned on the right side (such as…) may be prioritized. Figure 1 The video streams of 110 and / or 112 shown may have the same characteristics as the video source located on the left side of the vehicle (e.g., Figure 1 The video stream has a higher priority than 106 and / or 108 shown. In one aspect, the scheduler can receive operational information from an external wireless device (e.g., another UE and / or vehicle 142) relative to the vehicle including the scheduling unit, and determine the priority of the video stream based on the received operational information from the external device. For example, the scheduler can receive information from another vehicle that it is operating to pass through the vehicle including the scheduler from the left lane, and the scheduler can determine that the video stream of the rear-facing video source (e.g., 108) located on the left side of the vehicle may have a higher priority than other video sources.

[0058] In one aspect, the priority of the video stream can be determined based on at least one of the following: the location of the video source, the receiving direction of the video source relative to the vehicle, or the resolution of the video source. For example, from a front-facing camera (e.g., as shown in the image). Figure 1 The video stream shown in 104 may have a connection with a 360-degree camera (e.g., such as...). Figure 1 The video stream shown in 116) has a higher priority than the video stream from the first video source with a higher resolution. For example, a first video stream from a first video source with a higher resolution may have a higher priority than a second video stream from a second video source with a lower resolution.

[0059] Figure 4 This illustrates that the first I-frame 402 and the second I-frame 412 need to be transmitted in the same time slot, but aspects of this disclosure are not limited thereto. For example, the scheduling unit can... Figure 4 The aspects shown apply to the situation where the first B-frame 404 and the second B-frame 414 need to be transmitted in the same time slot, and / or the situation where the first P-frame 406 and the second P-frame 416 need to be transmitted in the same time slot.

[0060] Figure 5Examples 500, 520, and 530 are illustrated for time-frequency resource allocation for transmitting a first video stream and a second video stream. In scenarios where multiple video sources can transmit video streams simultaneously, the scheduling unit can ensure that a combination of I-frames, B-frames, and P-frames scheduled in a time slot can be scheduled, thereby improving or enhancing the overall QoS. That is, the scheduling unit at a given time slot can allocate time-frequency resources based on the compressed frame type and / or the total frequency bandwidth of compressed frames that simultaneously need to be transmitted by their respective video sources.

[0061] Referring to Example 500, the first video stream may include a first I-frame 502, a first B-frame 504, and a first P-frame 506, and the second video stream may include a second I-frame 512, a second B-frame 514, and a second P-frame 516. The first P-frame 506 and the second I-frame 512 may need to be transmitted simultaneously in the same time slot. The total frequency bandwidth BW allocated for the time-frequency resource scheduling of the first P-frame 506 and the second I-frame 512 that need to be transmitted is... total It can be greater than the threshold bandwidth BW th The scheduling unit can determine the total frequency bandwidth BW allocated to the scheduled time-frequency resources for the first P-frame 506 and the second I-frame 512 in the same time slot. total Greater than or equal to the threshold bandwidth BW th The total frequency bandwidth BW for the scheduled time-frequency resource allocation for the first P-frame 506 and the second I-frame 512 in the same time slot is determined. total Greater than or equal to the threshold bandwidth BW th At that time, the scheduling unit can schedule the time-frequency resource allocation of the second I-frame 512 based on the compressed frame type.

[0062] In some aspects, the first time slot can be the same time slot in which the first P-frame 506 and the second I-frame 512 need to be transmitted simultaneously. That is, the scheduling unit can determine that the second I-frame 512 has a higher frame priority than the first P-frame 506, and can schedule the second I-frame 512 at the first time slot without any additional time delay from the time slot in which the first P-frame 506 and the second I-frame 512 initially need to be transmitted simultaneously.

[0063] In some aspects, the first time slot may differ from the time slot where the first P-frame 506 and the second I-frame 512 need to be transmitted simultaneously. In one aspect, the first time slot may be scheduled with an additional time delay from the time slot where the first P-frame 506 and the second I-frame 512 initially needed to be transmitted simultaneously. In some aspects, the scheduler may determine the first time slot based on the conditions of the wireless network, at which time resource allocation is scheduled for the second I-frame 512, which has a higher frame priority than the first P-frame 506.

[0064] In one aspect, the scheduler may consider interference from the external environment / wireless device (e.g., interference 144). The scheduler may detect interference from the external environment and schedule resource allocation for a first P-frame 506 of a first video stream, which has a higher priority in a first time slot where the impact from external interference is expected to be minimal or reduced. In another aspect, the scheduler may receive scheduling information from the external environment / wireless device (e.g., another UE and / or vehicle 142) regarding wireless communications that may have an adverse effect (e.g., interference). The scheduler may consider the scheduling information regarding wireless communications from the external environment / wireless device and schedule resource allocation for a second I-frame 512 in a first time slot where the impact from wireless communications from the external environment / wireless device is expected to be minimal or reduced.

[0065] In some aspects, the total frequency bandwidth BW of the time-frequency resource allocation scheduled on a time frame for the first compressed frame of the first video stream and the second compressed frame of the second video stream is determined. total Greater than or equal to the threshold bandwidth BW th The scheduling unit can schedule time-frequency resource allocation for the second compressed frame at the first time slot and schedule time-frequency resource allocation for the first compressed frame at the second time slot, which is delayed from the first time slot. In one aspect, the second compressed frame can be an I-frame, and the first compressed frame can be a delta frame. In another aspect, the second compressed frame can be a P-frame, and the first compressed frame can be a B-frame. Referring to Example 520, when determining the total frequency bandwidth BW of time-frequency resource allocation scheduled for the first P-frame 506 and the second I-frame 512 at the same time slot... total Greater than or equal to the threshold bandwidth BW th The scheduling unit can schedule time-frequency resource allocation for the second I-frame 541 at the first time slot, and schedule time-frequency resource allocation for the first P-frame 526 at the second time slot, which has a second time delay from the first time slot. The first P-frame 526 and the second I-frame 541 can be scheduled at different time slots; therefore, the total frequency bandwidth of the scheduled time-frequency resource allocation is not greater than or equal to the threshold bandwidth BW. th Therefore, it can improve overall spectral efficiency and reduce overall stream delay.

[0066] In some aspects, the scheduling unit can determine the total frequency bandwidth (BW) of time-frequency resource allocation for scheduling at time frames for a first compressed frame of a first video stream and a second compressed frame of a second video stream. total Greater than or equal to the threshold bandwidth BW thAt the same time, it determines whether to schedule the first video stream or the second video stream in the first time slot and cancels the other video stream. In one aspect, the scheduling unit may determine the total frequency bandwidth BW of the time-frequency resources allocated to the scheduled time-frequency resources for the first P frame 506 and the second I frame 542 at the time frame. total Greater than or equal to the threshold bandwidth BW th At that time, it is determined that the first P-frame 536 of the first video stream will be cancelled. That is, it is determined that the first P-frame 506 of the first video stream and the second I-frame 542 of the second video stream are scheduled to have a bandwidth greater than or equal to the threshold bandwidth BW in the same time frame. th When the overall frequency bandwidth is sufficient, the scheduling unit can schedule the time-frequency resource allocation for the second I-frame 502 in the first time slot and cancel the transmission of the first P-frame 536 of the first video stream. Therefore, the overall spectral efficiency can be improved.

[0067] Figure 6 A call flowchart 600 for wireless communication is shown. Call flowchart 600 may include a scheduling unit 602, a first video source 604, and a second video source 606. The scheduling unit 602 may receive a first video stream from the first video source 604 and a second video stream from the second video source 606.

[0068] At 607, scheduling unit 602 can schedule resource allocation for each of multiple video frames from multiple video sources in a video stream, based on the compressed frame type of the video frame, where the compressed frame type is one of I-frame, P-frame, or B-frame. That is, scheduling unit 602 can schedule resource allocation for a first frame from a first video stream from a first video source 604 and a second frame from a second video stream from a second video source 606, based on the compressed frame types of the first and second frames. The video streams may include the first and second video streams, and the multiple video sources may include the first video source 604 and the second video source 606. In some aspects, resource allocation can be scheduled to minimize the sum of the maximum frequency bandwidths simultaneously scheduled for resource allocation for the video streams. In some aspects, resource allocation can be scheduled to minimize the maximum sum of time-frequency resources associated with resource allocation in each time slot of the time slot set. 607 may include 608, 612, 614, 616, 617, 618, and 620.

[0069] At point 608, scheduling unit 602 can determine that a first frame from a first video stream from a first video source 604 and a second frame from a second video stream from a second video source 606 both need to be transmitted in the first timeslot. In some aspects, the scheduling unit can determine that the first frame and the second frame have the same compressed frame type. In one aspect, the compressed frame type of the first frame and the second frame can be an I-frame.

[0070] At point 612, scheduling unit 602 can determine that the first video stream has a higher priority than the second video stream. In some aspects, scheduling unit 602 can determine the priority of the first and second video streams based on at least one of the following: the relative position of the vehicle; the vehicle's operation, including at least one of direction, speed, or acceleration; the vehicle's external environment, including interference from other wireless devices; the location of the video source; the receiving direction of the video source relative to the vehicle; or the resolution of the video source, etc. In some aspects, scheduling unit 602 can schedule resource allocation based on the determination of the priority of the first and second video streams.

[0071] At 614, scheduling unit 602 can determine that the sum of time-frequency resources allocated to scheduled resources that need to be transmitted simultaneously for the first frame of the first video stream from the first video source 604 and the second frame of the second video stream from the second video source 606 is greater than or equal to a threshold value.

[0072] At 616, scheduling unit 602 can determine that the first frame has a higher frame priority than the second frame based on the determination at 614 that the total frequency bandwidth allocated to the scheduled resources for each of the multiple video frames in the video stream is greater than or equal to a threshold bandwidth. That is, scheduling unit 602 can determine that an I-frame has a higher frame priority than a P-frame or a B-frame, and that a P-frame has a higher frame priority than a B-frame. In one aspect, a first frame of compressed frame type I-frame can be determined to have a higher frame priority than a second frame of compressed frame type P-frame or B-frame. In another aspect, a first frame of compressed frame type P-frame can be determined to have a higher frame priority than a second frame of compressed frame type B-frame.

[0073] At 617, scheduling unit 602 can schedule resource allocation for the first frame of the first video stream in the first time slot. In one aspect, scheduling unit 602 can schedule resource allocation for the first frame of the first video stream in the first time slot based on the determination at 612 that the first video stream has a higher priority. In another aspect, scheduling unit 602 can schedule resource allocation for the first frame of the first video stream in the first time slot based on the determination at 616 that the first frame has a higher frame priority than the second frame.

[0074] In some aspects, the first time slot may be the same time slot in which the first frame and the second frame need to be transmitted simultaneously. That is, the scheduling unit can schedule the first frame at the first time slot without any additional time delay from the time slot in which the first frame and the second frame initially need to be transmitted simultaneously. In some aspects, the first time slot may not be the same time slot in which the first frame and the second frame need to be transmitted simultaneously. In one aspect, the first time slot may be scheduled with an additional time delay from the time slot in which the first frame and the second frame initially need to be transmitted simultaneously. In some aspects, the scheduling unit 602 may determine the first time slot based on the conditions of the wireless network and schedule resource allocation for the first frame at that time slot. In one aspect, the scheduling unit 602 may take into account interference from the external environment / wireless devices (e.g., interference 144). The scheduling unit 602 may detect interference from the external environment and schedule resource allocation for the first frame, which is expected to have minimal or reduced impact from external interference. In another aspect, scheduling unit 602 may receive scheduling information from external environment / wireless devices (e.g., another UE and / or vehicle 142) regarding wireless communication that may have an adverse effect (e.g., interference) and schedule resource allocation for the first frame at a first time slot where the wireless communication from the external environment / wireless devices is expected to have a minimum or reduced effect.

[0075] At 618, scheduling unit 602 can schedule resource allocation for the second frame of the second video stream in a second time slot following the first time slot, based on the determination at 612 and / or 616. That is, scheduling unit 602 can schedule resource allocation for the second frame of the second video stream in a second time slot following the first time slot. In one aspect, resource allocation for the second frame of the second video stream can be scheduled in a second time slot following the first time slot based on the determination at 612 that the first video stream has a higher priority than the second video stream. In another aspect, resource allocation for the second frame of the second video stream can be scheduled in a second time slot following the first time slot based on the determination at 616 that the first frame has a higher frame priority than the second frame.

[0076] At 620, scheduling unit 602 can cancel the transmission of the second frame of the second video stream based on the determination at 612 and / or 616. In one aspect, the transmission of the second frame of the second video stream can be canceled based on the fact that the first video stream has a higher priority than the second video stream at 612. In another aspect, the transmission of the second frame of the second video stream can be canceled based on the fact that the first frame has a higher frame priority than the second frame at 616.

[0077] At 622, scheduling unit 602 can instruct the second video source to increase the video compression rate of the second video stream based on the determination at 612 that the first video stream has a higher priority than the second video stream. In other words, scheduling unit 602 can instruct the second video source 606 to increase the video compression rate of the second video stream based on the determination at 612 that the first video stream has a higher priority than the second video stream.

[0078] At point 624, scheduling unit 602 can receive video streams from multiple video sources based on the scheduled resource allocation. That is, scheduling unit 602 can receive a first video stream from first video source 604 based on the scheduled resource allocation. At point 626, scheduling unit 602 can receive a second video stream from second video source 606 based on the scheduled resource allocation.

[0079] Figure 7 This is a flowchart 700 of a wireless communication method. This method can be executed by a scheduling unit (e.g., scheduling unit 602; device 902).

[0080] At 701, the scheduling unit can schedule resource allocation for each of multiple video frames in a video stream from multiple video sources based on the compressed frame type of the video frame, where the compressed frame type is one of I-frame, P-frame, or B-frame. That is, the scheduling unit can schedule resource allocation for the first frame of a first video stream from a first video source and the second frame of a second video stream from a second video source based on the compressed frame types of the first and second frames. The video streams may include the first and second video streams, and the multiple video sources may include both the first and second video sources. In some aspects, resource allocation can be scheduled to minimize the sum of the maximum frequency bandwidths simultaneously scheduled for resource allocation for the video streams. In some aspects, resource allocation can be scheduled to minimize the maximum sum of time-frequency resources associated with the resource allocation in each time slot of the time slot set. 701 may include 702, 706, 708, 710, 711, 712, and 714. For example, at 607, scheduling unit 602 can schedule resource allocation for each of multiple video frames from multiple video sources based on the compressed frame type of the video frame, which is one of I-frames, P-frames, or B-frames. Furthermore, 701 can be performed by video frame scheduling component 940.

[0081] At 702, the scheduling unit can determine that a first frame from a first video stream from a first video source and a second frame from a second video stream from a second video source both need to be transmitted in the first timeslot. In some aspects, the scheduling unit can determine that the first frame and the second frame have the same compressed frame type. In one aspect, the compressed frame type of the first frame and the second frame can be an I-frame. For example, at 608, scheduling unit 602 can determine that a first frame from a first video stream from a first video source 604 and a second frame from a second video stream from a second video source 606 both need to be transmitted in the first timeslot. Furthermore, 702 can be performed by the video frame scheduling component 940.

[0082] At 706, the scheduling unit can determine that the first video stream has a higher priority than the second video stream. In some aspects, the scheduling unit can determine the priority of the first and second video streams based on at least one of the following: the relative position of the vehicle; the operation of the vehicle, including at least one of direction, speed, or acceleration; the external environment of the vehicle, including interference from other wireless devices; the position of the video source; the receiving direction of the video source relative to the vehicle; or the resolution of the video source, etc. In some aspects, the scheduling unit can schedule resource allocation based on the determination of the priority of the first and second video streams. For example, at 612, scheduling unit 602 can determine that the first video stream has a higher priority than the second video stream. Furthermore, 706 can be performed by video frame scheduling component 940.

[0083] At point 708, the scheduling unit can determine that the sum of the time-frequency resources allocated to the scheduled resources for simultaneous transmission of the first frame from the first video stream from the first video source and the second frame from the second video stream from the second video source is greater than or equal to a threshold value. For example, at point 614, the scheduling unit can determine that the sum of the time-frequency resources allocated to the scheduled resources for simultaneous transmission of the first frame from the first video stream from the first video source 604 and the second frame from the second video stream from the second video source 606 is greater than or equal to a threshold. Furthermore, point 708 can be performed by the video frame scheduling component 940.

[0084] At 710, the scheduling unit can determine that the first frame has a higher frame priority than the second frame based on the determination that the total frequency bandwidth allocated to the scheduled resources for each of the multiple video frames in the video stream is greater than or equal to the threshold bandwidth at 708. That is, the scheduling unit can determine that an I-frame has a higher frame priority than a P-frame or a B-frame, and that a P-frame has a higher frame priority than a B-frame. In one aspect, a first frame of compressed frame type with I-frames can be determined to have a higher frame priority than a second frame of compressed frame type with P-frames or B-frames. In another aspect, a first frame of compressed frame type with P-frames can be determined to have a higher frame priority than a second frame of compressed frame type with B-frames. For example, at 616, the scheduling unit 602 can determine that the first frame has a higher frame priority than the second frame based on the determination that the total frequency bandwidth allocated to the scheduled resources for each of the multiple video frames in the video stream is greater than or equal to the threshold bandwidth at 614. Furthermore, 710 can be performed by the video frame scheduling component 940.

[0085] At 711, the scheduling unit can allocate scheduling resources for the first frame of the first video stream in the first time slot. In one aspect, the scheduling unit can allocate scheduling resources for the first frame of the first video stream in the first time slot based on the determination at 706 that the first video stream has a higher priority. In another aspect, the scheduling unit can allocate scheduling resources for the first frame of the first video stream in the first time slot based on the determination at 710 that the first frame has a higher frame priority than the second frame. For example, at 617, scheduling unit 602 can allocate scheduling resources for the first frame of the first video stream in the first time slot. Furthermore, 711 can be performed by video frame scheduling component 940.

[0086] In some aspects, the first time slot may be the same time slot in which the first frame and the second frame need to be transmitted simultaneously. That is, the scheduling unit can schedule the first frame at the first time slot without any additional time delay from the time slot in which the first frame and the second frame initially needed to be transmitted simultaneously. In some aspects, the first time slot may not be the same time slot in which the first frame and the second frame need to be transmitted simultaneously. In one aspect, the first time slot may be scheduled with an additional time delay from the time slot in which the first frame and the second frame initially needed to be transmitted simultaneously. In some aspects, the scheduling unit may determine the first time slot based on the conditions of the wireless network and schedule resource allocation for the first frame at that time slot. In one aspect, the scheduling unit may take into account interference from the external environment / wireless devices (e.g., interference 144). The scheduling unit may detect interference from the external environment and schedule resource allocation for the first frame that is expected to have minimal or reduced impact from the external interference. In another aspect, the scheduling unit may receive scheduling information from the external environment / wireless device (e.g., another UE and / or vehicle 142) regarding wireless communication that may have an adverse effect (e.g., interference), and schedule resource allocation for the first frame at a first time slot where the wireless communication from the external environment / wireless device is expected to have a minimum or reduced effect.

[0087] At 712, the scheduling unit can schedule resource allocation for the second frame of the second video stream in the second time slot following the first time slot, based on the determination at 706 and / or 710. That is, the scheduling unit can schedule resource allocation for the second frame of the second video stream in the second time slot following the first time slot. In one aspect, the resource allocation for the second frame of the second video stream can be scheduled in the second time slot following the first time slot based on the determination at 706 that the first video stream has a higher priority than the second video stream. In another aspect, the resource allocation for the second frame of the second video stream can be scheduled in the second time slot following the first time slot based on the determination at 710 that the first frame has a higher frame priority than the second frame. For example, at 618, the scheduling unit 602 can schedule resource allocation for the second frame of the second video stream in the second time slot following the first time slot based on the determination at 706 and / or 710. Furthermore, 712 can be performed by the video frame scheduling component 940.

[0088] At 714, the scheduling unit can cancel the transmission of the second frame of the second video stream based on the determination at 706 and / or 710. In one aspect, the transmission of the second frame of the second video stream can be canceled based on the fact that the first video stream has a higher priority than the second video stream at 706. In another aspect, the transmission of the second frame of the second video stream can be canceled based on the fact that the first frame has a higher frame priority than the second frame at 710. For example, at 620, the scheduling unit 602 can cancel the transmission of the second frame of the second video stream based on the determination at 706 and / or 710. Furthermore, 714 can be performed by the video frame scheduling component 940.

[0089] At point 716, the scheduling unit can instruct the second video source to increase the video compression rate of the second video stream based on the determination at point 706 that the first video stream has a higher priority than the second video stream. That is, the scheduling unit can instruct the second video source to increase the video compression rate of the second video stream based on the determination at point 706 that the first video stream has a higher priority than the second video stream. For example, at point 622, scheduling unit 602 can instruct the second video source to increase the video compression rate of the second video stream based on the determination at point 706 that the first video stream has a higher priority. Furthermore, point 716 can be executed by the video frame scheduling component 940.

[0090] At point 718, the scheduling unit can receive video streams from multiple video sources based on the scheduled resource allocation. That is, the scheduling unit can receive a first video stream from a first video source based on the scheduled resource allocation. At point 624, scheduling unit 602 can receive video streams from multiple video sources based on the scheduled resource allocation. At point 720, the scheduling unit can receive a second video stream from a second video source based on the scheduled resource allocation. For example, at point 626, scheduling unit 602 can receive a second video stream from a second video source 606 based on the scheduled resource allocation. Furthermore, points 718 and 720 can be executed by video frame scheduling component 940.

[0091] Figure 8 This is a flowchart 800 of a wireless communication method. This method can be executed by a scheduling unit (e.g., scheduling unit 602; device 902).

[0092] At 801, the scheduling unit can schedule resource allocation for each of multiple video frames in a video stream from multiple video sources based on the compressed frame type of the video frame, where the compressed frame type is one of I-frame, P-frame, or B-frame. That is, the scheduling unit can schedule resource allocation for the first frame of a first video stream from a first video source and the second frame of a second video stream from a second video source based on the compressed frame types of the first and second frames. The video streams may include the first and second video streams, and the multiple video sources may include both the first and second video sources. In some aspects, resource allocation can be scheduled to minimize the sum of the maximum frequency bandwidths simultaneously scheduled for resource allocation for the video streams. In some aspects, resource allocation can be scheduled to minimize the maximum sum of time-frequency resources associated with the resource allocation in each time slot of the time slot set. 801 may include 802, 806, 808, 810, 811, 812, and 814. For example, at 607, scheduling unit 602 can schedule resource allocation for each of multiple video frames from multiple video streams from multiple video sources based on the compressed frame type of the video frame, which is one of I-frames, P-frames, or B-frames. Furthermore, 801 can be performed by video frame scheduling component 940.

[0093] At point 818, the scheduling unit can receive video streams from multiple video sources based on the scheduled resource allocation. That is, the scheduling unit can receive a first video stream from a first video source based on the scheduled resource allocation. For example, at point 624, scheduling unit 602 can receive video streams from multiple video sources based on the scheduled resource allocation. Furthermore, point 818 can be performed by video frame scheduling component 940.

[0094] Figure 9This is a schematic diagram 900 illustrating an example of a hardware implementation of device 902. Device 902 is a vehicle and includes a scheduling unit 904 (also referred to as a processor) coupled to a WWAN transceiver 922, an application processor 906 coupled to a secure digital card (SD) 908, a screen 910, a Bluetooth module 912, a wireless local area network (WLAN) module 914, a global positioning system (GPS) module 916, a power supply 918, and multiple video sources 950. The scheduling unit 904 communicates with a UE 960 (e.g., another UE or vehicle 142), a base station 962 (e.g., base station 140), and / or multiple video sources 950 via the WWAN transceiver 922. The scheduling unit 904 can schedule resource allocation for the video sources 950 to send video streams to the scheduling unit 904. The scheduling unit 904 may include a computer-readable medium / memory. This computer-readable medium / memory may be non-transitory. The scheduling unit 904 is responsible for general processing, which includes executing software stored on the computer-readable medium / memory. When the software is executed by the scheduling unit 904, the scheduling unit 904 performs the various functions described above. The computer-readable medium / memory can also be used to store data manipulated by the scheduling unit 904 during software execution. The scheduling unit 904 also includes a receiving component 930, a processor 932, and a transmitting component 934. The processor 932 includes one or more of the components shown. The components within the processor 932 can be stored in the computer-readable medium / memory and / or configured as hardware within the scheduling unit 904.

[0095] Processor 932 includes video frame scheduling component 940, which is configured to schedule resource allocation for each video frame of a plurality of video frames from a plurality of video sources based on the compressed frame type of the video frames; determine that a first frame of a first video stream and a second frame of a second video stream need to be transmitted simultaneously in a first time slot; determine that the first video stream has a higher priority than the second video stream; determine that the sum of time-frequency resources for the scheduled resource allocation for the simultaneous transmission of the first and second frames is greater than or equal to a threshold; determine that the first frame has a higher frame priority than the second frame; schedule resource allocation for the first frame of the first video stream in the first time slot; schedule resource allocation for the second frame of the second video stream in a second time slot after the first time slot; cancel the transmission of the second frame of the second video stream; instruct a second video source to increase the video compression rate of the second video stream; and receive video streams from a plurality of video sources based on the scheduled resource allocation, for example, as described in conjunction with 701, 702, 706, 708, 710, 711, 712, 714, 716, 718, and 720.

[0096] The device may include means for performing in Figure 6 and Figure 7The additional components of each box in the algorithm's flowchart above. Therefore, Figure 6 and Figure 7 Each box in the flowchart can be executed by a component, and the apparatus can include one or more of these components. A component can be one or more hardware components specifically configured to execute the process / algorithm, implemented by a processor configured to execute the process / algorithm, stored in a computer-readable medium for implementation by a processor, or some combination thereof.

[0097] In one configuration, apparatus 902, particularly scheduling unit 904, includes units for scheduling resource allocations for each video frame of a video stream from multiple video sources based on the compressed frame type of the video frames, and units for receiving video streams from the multiple video sources based on the scheduled resource allocations. Apparatus 902 includes units for determining that a first frame from a first video stream from a first video source and a second frame from a second video stream from a second video source need to be transmitted simultaneously, the first frame and the second frame having the same compressed frame type; and units for determining that the first video stream has a higher priority than the second video stream, and scheduling resource allocations for the first frame of the first video stream before the second frame of the second video stream based on the determination that the first video stream has a higher priority. Apparatus 902 includes units for determining that the sum of time-frequency resources for scheduled resource allocation that need to be transmitted simultaneously for a first frame of a first video stream from a first video source and a second frame of a second video stream from a second video source is greater than or equal to a threshold; units for determining which of the first and second frames has a higher frame priority; and units for scheduling resource allocation for one of the first or second frames with a higher frame priority before the other of the first or second frames with a lower frame priority. Apparatus 902 also includes units for scheduling resource allocation for the first frame of the first video stream in a first time slot based on a determination that the first video stream has a higher priority than the second video stream; units for scheduling resource allocation for the second frame of the second video stream in a second time slot after the first time slot based on a determination that the first video stream has a higher priority than the second video stream; units for canceling the transmission of the second frame of the second video stream based on a determination that the first video stream has a higher priority than the second video stream; and units for instructing the second video source to increase the video compression rate of the second video stream based on a determination that the first video stream has a higher priority than the second video stream. The aforementioned unit may be one or more of the aforementioned components of the device 902 configured to perform the functions described therein.

[0098] Refer again Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 The video stream scheduling apparatus can be configured to schedule resource allocation based on each video frame of a video stream from multiple video sources, where the compressed frame type is one of the video frames, and to receive video streams from the multiple video sources based on the scheduled resource allocation. The compressed frame type may include I-frames, P-frames, or B-frames. In some aspects, resource allocation can be scheduled to minimize the maximum sum of time-frequency resources associated with the resource allocation in each time slot of the time slot set.

[0099] In some aspects, the video stream scheduling device can be configured to schedule resource allocation by determining that a first frame of a first video stream from a first video source and a second frame of a second video stream from a second video source need to be transmitted simultaneously (the first frame and the second frame have the same compressed frame type), and determining that the first video stream has a higher priority than the second video stream, and scheduling resource allocation for the first frame of the first video stream before the second frame of the second video stream based on the determination that the first video stream has a higher priority. In one aspect, the compressed frame type of the first frame and the second frame is each an I-frame. In some aspects, the video stream scheduling device can determine the priority of the first video stream and the second video stream based on at least one of the following: the relative position of the vehicle; the operation of the vehicle, including at least one of direction, speed, or acceleration; the external environment of the vehicle, including interference from other wireless devices; the position of the video source; the receiving direction of the video source relative to the vehicle; or the resolution of the video source.

[0100] In some aspects, the video stream scheduling apparatus can be configured to schedule resource allocation by determining that the sum of time-frequency resources for scheduled resource allocations that need to be transmitted simultaneously for a first frame of a first video stream from a first video source and a second frame of a second video stream from a second video source is greater than or equal to a threshold, determining which of the first and second frames has a higher frame priority, and scheduling resource allocations for one of the first or second frames with a higher frame priority before the other of the first or second frames with a lower frame priority. In some aspects, the video stream scheduling apparatus can be configured to determine which of the first and second frames has a higher frame priority, including determining that an I-frame has a higher frame priority than a P-frame or a B-frame, and determining that a P-frame has a higher frame priority than a B-frame.

[0101] In one aspect, the video stream scheduling device may be further configured to: schedule resource allocation for a first frame of the first video stream in a first time slot based on a determination that the first video stream has a higher priority than the second video stream, and schedule resource allocation for a second frame of the second video stream in a second time slot following the first time slot based on the determination that the first video stream has a higher priority than the second video stream. In another aspect, the video stream scheduling device may be further configured to cancel the transmission of a second frame of the second video stream based on a determination that the first video stream has a higher priority than the second video stream. In yet another aspect, the video stream scheduling device may be configured to instruct a second video source to increase the video compression rate of the second video stream based on a determination that the first video stream has a higher priority.

[0102] It should be understood that the specific order or hierarchy of the boxes in the disclosed process / flowcharts is merely illustrative of the example method. It should be understood that the specific order or hierarchy of the boxes in the process / flowcharts may be rearranged based on design preferences. Furthermore, some boxes may be combined or omitted. The appended method claims present the elements of each type of box in the order shown in the examples, and do not imply limitation to the specific order or hierarchy presented.

[0103] The above description is provided to enable any person skilled in the art to implement the various aspects described herein. Various modifications to these aspects will be apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects. Therefore, the claims are not intended to be limited to the aspects shown herein, but are to be consistent with the full scope of the language claims, wherein elements referred to in the singular are not intended to mean "one and only one," but rather "one or more," unless specifically stated otherwise. Terms such as "if," "when," and "at the same time as" should be interpreted as "under the conditions of," rather than implying an immediate temporal relationship or reaction. In other words, these phrases (e.g., "when...") do not imply an immediate action in response to the occurrence of an action or during the occurrence of such an action, but only that the action will occur if the conditions are met, without requiring a specific or immediate time constraint for the occurrence of the action. The word "exemplary" as used herein means "as an example, instance, or illustration." Any aspect described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other aspects. Unless otherwise specified, the term "some" refers to one or more. Combinations such as "at least one of A, B, or C," "one or more of A, B, or C," "at least one of A, B, and C," "one or more of A, B, and C," and "A, B, C, or any combination thereof" include any combination of A, B, and / or C, and may include multiples of A, multiples of B, or multiples of C. Specifically, "at least one of A, B, or C," "one or more of A, B, or C," "one or more of A, B, or C," and "any combination thereof" include any combination of A, B, and / or C, and may include multiples of A, multiples of B, or multiples of C. The combinations of “one or more of”, “at least one of A, B, and C”, “one or more of A, B, and C”, and “A, B, C, or any combination thereof” can be A only, B only, C only, A and B, A and C, B and C, or A and B and C, wherein any such combination may contain one or more members of A, B, or C. All structural and functional equivalents of the aspects described herein that are known to or will be known later by one of ordinary skill in the art are expressly incorporated herein by reference and are intended to be included in the claims. Furthermore, nothing disclosed herein is intended to be offered to the public, whether or not such disclosure is expressly recited in the claims. The words “module,” “mechanism,” “element,” “device,” etc., cannot replace the word “unit.” Accordingly, no claim element is to be interpreted as a functional module unless the element is expressly recited using the phrase “unit for…”.

[0104] The following aspects are illustrative only and may be combined with other aspects or teachings described herein without limitation.

[0105] Aspect 1 is an apparatus for wireless communication at a video stream scheduling device, comprising at least one processor coupled to a memory, the at least one processor and the memory being configured to schedule resource allocation for each of a plurality of video frames from a video stream from a plurality of video sources based on a compressed frame type of the video frames, the compressed frame type being one of an I-frame, a P-frame, or a B-frame, wherein the I-frame is independently compressed, the P-frame is an incremental (delta) frame compressed with reference to the preceding I-frame or P-frame, and the B-frame is an incremental (delta) frame compressed with reference to one or more adjacent I-frames and P-frames, and receiving video streams from the plurality of video sources based on the scheduled resource allocation.

[0106] Aspect 2 is an apparatus according to Aspect 1, wherein at least one processor and memory configured to schedule the resource allocation are further configured to determine that a first frame of a first video stream from a first video source and a second frame of a second video stream from a second video source need to be transmitted simultaneously, the first frame and the second frame having the same compressed frame type, and the video streams comprising a first video stream and a second video stream, and the plurality of video sources comprising a first video source and a second video source, determine that the first video stream has a higher priority than the second video stream, and schedule the resource allocation for the first frame of the first video stream prior to the second frame of the second video stream based on the higher priority of the first video stream than the second video stream.

[0107] Aspect 3 is an apparatus according to aspect 2, wherein the compressed frame type of the first frame and the second frame is each I-frame.

[0108] Aspect 4 is the apparatus according to Aspects 2 and 3, wherein the priority of the first video stream and the second video stream is determined based on at least one of the following: the relative position of the vehicle; the operation of the vehicle, including at least one of direction, speed or acceleration; the external environment of the vehicle, including interference from other wireless devices; the position of the video source; the receiving direction of the video source relative to the vehicle; or the resolution of the video source, wherein resource allocation is still scheduled based on the determination of the priority of the first video stream and the second video stream.

[0109] Aspect 5 is an apparatus according to any one of aspects 2 to 4, wherein the at least one processor and the memory configured to schedule the resource allocation are further configured to: schedule resource allocation for a first frame of the first video stream in a first time slot based on a determination that the first video stream has a higher priority than the second video stream, and schedule resource allocation for a second frame of the second video stream in a second time slot following the first time slot based on a determination that the first video stream has a higher priority than the second video stream.

[0110] Aspect 6 is an apparatus according to any one of aspects 2 to 4, wherein the at least one processor and the memory configured to schedule the resource allocation are further configured to cancel the transmission of the second frame of the second video stream based on a determination that the first video stream has a higher priority than the second video stream.

[0111] Aspect 7 is an apparatus according to any one of Aspects 2 to 4, wherein the at least one processor and the memory are further configured to instruct the second video source to increase the video compression rate of the second video stream based on a determination that the first video stream has a higher priority.

[0112] Aspect 8 is an apparatus according to Aspect 1, wherein the at least one processor and the memory configured to schedule the resource allocation are further configured to determine that the sum of time-frequency resources of the scheduled resource allocation that need to be transmitted simultaneously for a first frame of a first video stream from a first video source and a second frame of a second video stream from a second video source is greater than or equal to a threshold, and the video streams include the first video stream and the second video stream, and the plurality of video sources include the first video source and the second video source, determine which of the first frame and the second frame has a higher frame priority, and schedule the resource allocation for the one with the higher frame priority in the first frame or the second frame before another frame with a lower frame priority in the first frame or the second frame.

[0113] Aspect 9 is an apparatus according to aspect 8, wherein the at least one processor and the memory configured to determine which of the first frame and the second frame has a higher frame priority are configured to determine that the I frame has a higher frame priority than the P frame or the B frame, and to determine that the P frame has a higher frame priority than the B frame.

[0114] Aspect 10 is an apparatus according to any one of aspects 8 to 9, wherein the at least one processor and the memory configured to schedule the resource allocation are further configured to: schedule resource allocation for a first frame of a first video stream in a first time slot based on a determination that the first frame has a higher frame priority than the second frame, and schedule resource allocation for a second frame of a second video stream in a second time slot following the first time slot based on a determination that the first frame has a higher frame priority than the second frame.

[0115] Aspect 11 is an apparatus according to either aspect 8 or 9, wherein the at least one processor and the memory configured to schedule the resource allocation are further configured to cancel the transmission of the second frame of the second video stream based on a determination that the first frame has a higher frame priority than the second frame.

[0116] Aspect 12 is an apparatus of any of aspects 1 to 11, wherein the resource allocation is scheduled to minimize the maximum sum of time-frequency resources associated with the resource allocation in each time slot of the time slot set.

[0117] Aspect 13 is a method for implementing wireless communication in any of aspects 1 to 12.

[0118] Aspect 14 is a device for wireless communication, including units for implementing any one of aspects 1 to 12.

[0119] Aspect 15 is a computer-readable medium storing computer-executable code, wherein when executed by a processor, the code causes the processor to implement any one of aspects 1 to 12.

Claims

1. An apparatus for wireless communication in a vehicle, comprising: Memory; as well as At least one processor coupled to the memory, the at least one processor and the memory being configured as follows: The compressed frame type based on video frames schedules time-frequency resource allocation for each of multiple video frames from multiple cameras on the vehicle. The compressed frame type is one of an internal frame (I-frame), a predicted frame (P-frame), or a bidirectional frame (B-frame), wherein the I-frame is compressed independently, the P-frame is an incremental frame compressed with reference to the preceding I-frame or P-frame, and the B-frame is an incremental frame compressed with reference to one or more adjacent I-frames and P-frames. as well as The video stream is received wirelessly from the plurality of cameras on the vehicle based on the scheduled time-frequency resource allocation.

2. The apparatus of claim 1, wherein the at least one processor configured to schedule the time-frequency resource allocation and the memory are further configured to: It is determined that a first frame from a first video stream from a first camera and a second frame from a second video stream from a second camera need to be transmitted simultaneously, the first frame and the second frame having the same compressed frame type, and the video streams comprising the first video stream and the second video stream, and the plurality of cameras on the vehicle comprising the first camera and the second camera; Determine that the first video stream has a higher priority than the second video stream, and Based on the determination that the first video stream has a higher priority, time-frequency resource allocation is scheduled for the first frame of the first video stream before the second frame of the second video stream.

3. The apparatus according to claim 2, wherein, The compressed frame type of the first frame and the second frame is I-frame.

4. The apparatus according to claim 2, wherein, The priority of the first video stream and the second video stream is determined based on at least one of the following: the relative position of the vehicle; the operation of the vehicle, including at least one of direction, speed, or acceleration; the external environment of the vehicle, including interference from other wireless devices; the position of the camera; the receiving direction of the camera relative to the vehicle; or the resolution of the camera. In order to schedule the time-frequency resource allocation, the at least one processor and the memory are further configured to schedule the time-frequency resource allocation based on a determination of the priorities of the first video stream and the second video stream.

5. The apparatus according to claim 2, wherein, The at least one processor and the memory configured to schedule the time-frequency resource allocation are further configured to: Based on the determination that the first video stream has a higher priority than the second video stream, the time-frequency resource allocation is scheduled for the first frame of the first video stream in the first time slot; as well as Based on the determination that the first video stream has a higher priority than the second video stream, the time-frequency resource allocation is scheduled for the second frame of the second video stream in the second time slot following the first time slot.

6. The apparatus according to claim 2, wherein, The at least one processor and the memory configured to schedule the time-frequency resource allocation are further configured to: The transmission of the second frame of the second video stream is cancelled based on the determination that the first video stream has a higher priority than the second video stream.

7. The apparatus according to claim 2, wherein, The at least one processor and the memory are further configured to: Based on the determination that the first video stream has a higher priority, the second camera is instructed to increase the video compression rate of the second video stream.

8. The apparatus according to claim 1, wherein, The at least one processor and the memory configured to schedule the time-frequency resource allocation are further configured to: The sum of time-frequency resources allocated for scheduling time-frequency resource allocation for simultaneously transmitting a first frame from a first video stream from a first camera and a second frame from a second video stream from a second camera is greater than or equal to a threshold, and the video stream includes the first video stream and the second video stream, and the plurality of cameras on the vehicle include the first camera and the second camera. Determine which of the first and second frames has a higher frame priority; as well as Schedule time-frequency resource allocation for another item in the first or second frame that has a higher frame priority, prior to the item with a lower frame priority in the first or second frame.

9. The apparatus according to claim 8, wherein, The at least one processor and the memory configured to determine which of the first and second frames has a higher frame priority are configured to: Determine that the I-frame has a higher frame priority than the P-frame or the B-frame; as well as The P-frame is determined to have a higher frame priority than the B-frame.

10. The apparatus according to claim 8, wherein, The at least one processor and the memory configured to schedule the time-frequency resource allocation are further configured to: Based on the determination that the first frame has a higher frame priority than the second frame, the time-frequency resource allocation is scheduled for the first frame of the first video stream in the first time slot; as well as Based on the determination that the first frame has a higher frame priority than the second frame, the time-frequency resource allocation is scheduled for the incremental frames of the second video stream in the second time slot following the first time slot.

11. The apparatus according to claim 8, wherein, The at least one processor and the memory configured to schedule the time-frequency resource allocation are further configured to: Based on the determination that the first frame has a higher frame priority than the second frame, the transmission of the second frame of the second video stream is cancelled.

12. The apparatus according to claim 1, wherein, In order to schedule the time-frequency resource allocation, the at least one processor and the memory are further configured to schedule the time-frequency resource allocation to minimize the maximum sum of time-frequency resources associated with the time-frequency resource allocation in each time slot of the time slot set.

13. A method for wireless communication in a vehicle, comprising: The compressed frame type based on video frames schedules time-frequency resource allocation for each of multiple video frames from multiple cameras on the vehicle. The compressed frame type is one of an internal frame (I-frame), a predicted frame (P-frame), or a bidirectional frame (B-frame), wherein the I-frame is compressed independently, the P-frame is an incremental frame compressed with reference to the preceding I-frame or P-frame, and the B-frame is an incremental frame compressed with reference to one or more adjacent I-frames and P-frames. as well as The video stream is received wirelessly from the plurality of cameras on the vehicle based on the scheduled time-frequency resource allocation.

14. The method according to claim 13, wherein, The scheduling of the time-frequency resource allocation includes: It is determined that a first frame from a first video stream from a first camera and a second frame from a second video stream from a second camera need to be transmitted simultaneously, the first frame and the second frame having the same compressed frame type, and the video streams comprising the first video stream and the second video stream, and the plurality of cameras on the vehicle comprising the first camera and the second camera; Determine that the first video stream has a higher priority than the second video stream, and Based on the determination that the first video stream has a higher priority, time-frequency resource allocation is scheduled for the first frame of the first video stream before the second frame of the second video stream.

15. The method according to claim 14, wherein, The compressed frame type of the first frame and the second frame is I-frame.

16. The method of claim 14, wherein, The priority of the first video stream and the second video stream is determined based on at least one of the following: the relative position of the vehicle; the operation of the vehicle, including at least one of direction, speed, or acceleration; the external environment of the vehicle, including interference from other wireless devices; the position of the camera; the receiving direction of the camera relative to the vehicle; or the resolution of the camera. The time-frequency resource allocation is further scheduled based on the determination of the priorities of the first video stream and the second video stream.

17. The method according to claim 14, wherein, The scheduling of the time-frequency resource allocation includes: Based on the determination that the first video stream has a higher priority than the second video stream, the time-frequency resource allocation is scheduled for the first frame of the first video stream in the first time slot; and Based on the determination that the first video stream has a higher priority than the second video stream, the time-frequency resource allocation is scheduled for the second frame of the second video stream in the second time slot following the first time slot.

18. The method according to claim 14, wherein, The scheduling of the time-frequency resource allocation includes: The transmission of the second frame of the second video stream is cancelled based on the determination that the first video stream has a higher priority than the second video stream.

19. The method of claim 14, further comprising: Based on the determination that the first video stream has a higher priority, the second camera is instructed to increase the video compression rate of the second video stream.

20. The method according to claim 13, wherein, The scheduling of the time-frequency resource allocation includes: The sum of time-frequency resources allocated for scheduling time-frequency resource allocation for simultaneously transmitting a first frame from a first video stream from a first camera and a second frame from a second video stream from a second camera is greater than or equal to a threshold, and the video stream includes the first video stream and the second video stream, and the plurality of cameras on the vehicle include the first camera and the second camera. Determine which of the first and second frames has a higher frame priority; and Schedule time-frequency resource allocation for another item in the first or second frame that has a higher frame priority, prior to the item with a lower frame priority in the first or second frame.

21. The method according to claim 20, wherein, Determining which of the first and second frames has a higher frame priority includes: It is determined that the I-frame has a higher frame priority than the P-frame or B-frame; and The P-frame is determined to have a higher frame priority than the B-frame.

22. The method according to claim 20, wherein, The scheduling of time-frequency resource allocation also includes: Based on the determination that the first frame has a higher frame priority than the second frame, the time-frequency resource allocation is scheduled for the first frame of the first video stream in the first time slot; and Based on the determination that the first frame has a higher frame priority than the second frame, the time-frequency resource allocation is scheduled for the second frame of the second video stream in a second time slot following the first time slot.

23. The method of claim 20, wherein, The scheduling of time-frequency resource allocation also includes: The transmission of the second frame of the second video stream is cancelled based on the determination that the first frame has a higher frame priority than the second frame.

24. The method according to claim 13, wherein, The time-frequency resource allocation is scheduled to minimize the maximum sum of time-frequency resources associated with the allocation in each time slot of the time slot set.

25. An apparatus for wireless communication in a vehicle, comprising: A unit for scheduling time-frequency resource allocation for each of multiple video frames from multiple cameras on the vehicle based on a compressed frame type, wherein the compressed frame type is one of an inner frame (I-frame), a predicted frame (P-frame), or a bidirectional frame (B-frame), wherein the I-frame is independently compressed, the P-frame is an incremental frame compressed with reference to a preceding I-frame or P-frame, and the B-frame is an incremental frame compressed with reference to one or more adjacent I-frames and P-frames. as well as A unit for wirelessly receiving the video stream from the plurality of cameras on the vehicle based on the scheduled time-frequency resource allocation.

26. The apparatus according to claim 25, wherein, The unit for scheduling the time-frequency resource allocation further includes: A unit for determining that a first frame from a first video stream from a first camera and a second frame from a second video stream from a second camera need to be transmitted simultaneously, the first frame and the second frame having the same compressed frame type, the video stream comprising the first video stream and the second video stream, and the plurality of cameras on the vehicle comprising the first camera and the second camera; A unit for determining that the first video stream has a higher priority than the second video stream; and A unit for scheduling time-frequency resource allocation for the first frame of the first video stream prior to the second frame of the second video stream, based on a determination that the first video stream has a higher priority.

27. The apparatus according to claim 26, wherein, The priority of the first video stream and the second video stream is determined based on at least one of the following: the relative position of the vehicle; the operation of the vehicle, including at least one of direction, speed, or acceleration; the external environment of the vehicle, including interference from other wireless devices; the position of the camera; the receiving direction of the camera relative to the vehicle; or the resolution of the camera. The unit for scheduling the time-frequency resource allocation further includes a unit for scheduling the time-frequency resource allocation based on the determination of the priorities of the first video stream and the second video stream.

28. The apparatus according to claim 25, wherein, The unit for scheduling the time-frequency resource allocation further includes: The unit is used to determine that the sum of time-frequency resources allocated for scheduling time-frequency resource allocation for simultaneously transmitting a first frame of a first video stream from a first camera and a second frame of a second video stream from a second camera is greater than or equal to a threshold, and the video stream includes the first video stream and the second video stream, and the plurality of cameras on the vehicle include the first camera and the second camera. A unit for determining which of the first and second frames has a higher frame priority; and A unit for scheduling time-frequency resource allocation for one item in the first frame or the second frame that has a higher frame priority than the one item in the first frame or the second frame that has a lower frame priority.

29. The apparatus according to claim 28, wherein, The unit for scheduling the time-frequency resource allocation is configured to determine which of the first frame and the second frame has a higher frame priority, and further includes: A unit for determining that the I-frame has a higher frame priority than the P-frame or the B-frame; and A unit for determining that the P-frame has a higher frame priority than the B-frame.

30. A computer-readable medium storing computer-executable code at a vehicle, the code, when executed by a processor, causing the processor to perform the following operations: Time-frequency resource allocation is scheduled for each video frame in a video stream from multiple cameras on the vehicle based on a compressed frame type. The compressed frame type is one of an internal frame (I-frame), a predicted frame (P-frame), or a bidirectional frame (B-frame), wherein the I-frames are compressed independently, the P-frames are incremental frames compressed with reference to a preceding I-frame or P-frame, and the B-frames are incremental frames compressed with reference to one or more adjacent I-frames and P-frames. The video stream is received wirelessly from the plurality of cameras on the vehicle based on the scheduled time-frequency resource allocation.

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