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Vehicles with autonomous driving capabilities are present on public streets.However, edge cases remain that still require a human in-vehicle driver.Assuming the vehicle manages to come to a safe state in an automated fashion,teleoperated driving technology enables a human to resolve the situationremotely by a control interface connected via a mobile network. While this is apromising solution, it also introduces technical challenges, one of them beingthe necessity to transmit video data of multiple cameras from the vehicle tothe human operator. In this paper, an adaptive video streaming frameworkspecifically designed for teleoperated vehicles is proposed and demonstrated.The framework enables automatic reconfiguration of the video streams of themulti-camera system at runtime. Predictions of variable transmission servicequality are taken into account. With the objective to improve visual quality,the framework uses so-called rate-quality models to dynamically allocatebitrates and select resolution scaling factors. Results from deploying theproposed framework on an actual teleoperated driving system are presented.

Adaptive Video Configuration and Bitrate Allocation for Teleoperated Vehicles