Systems, methods, and devices of the various embodiments provide a multipath communication scheduler for an in-vehicle computing device, such as a vehicle's autonomous driving system, vehicle's telematics unit, vehicle's control system, etc. In various embodiments, a centralized scheduler for an in-vehicle computing device may assign packets for transport to a plurality of modems based at least in part on delivery delays associated with the plurality of modems. In various embodiments, delivery delays may be determined based on one or more of queue sizes of the plurality of modems, delivery rate estimates of the plurality of modems, and end to end delay estimates.