NX: gk20a_channel_timeout_handler and then auto reboot

operation: The cmdline is frequently started, with a small probability of automatic reboot. only in 4K and /dev/video0
cmdlne:
gst-launch-1.0 v4l2src device=“/dev/video0” -v -e ! “video/x-raw, width=(int)3840, height=(int)2160, framerate=(fraction)60/1, format=(string)NV12” ! tee name=t ! queue ! fpsdisplaysink video-sink=fakesink text-overlay=false sync=false t. ! nvvidconv ! “video/x-raw(memory:NVMM), width=(int)3840, height=(int)2160, format=(string)RGBA” ! queue ! nvoverlaysink sync=false
call trace:
[ 941.144145] nvgpu: 17000000.gv11b gk20a_channel_timeout_handler:1573 [ERR] Job on channel 505 timed out
[ 941.147496] nvgpu: 17000000.gv11b nvgpu_set_error_notifier_locked:137 [ERR] error notifier set to 8 for ch 505
[ 941.149736] nvgpu: 17000000.gv11b gk20a_channel_timeout_handler:1573 [ERR] Job on channel 507 timed out
[ 941.150955] nvgpu: 17000000.gv11b nvgpu_set_error_notifier_locked:137 [ERR] error notifier set to 8 for ch 507
[ 941.153502] nvgpu: 17000000.gv11b gk20a_fifo_handle_pbdma_intr_0:2744 [ERR] semaphore acquire timeout!
[ 948.640620] Kernel panic - not syncing: Watchdog detected hard LOCKUP on cpu 0
[ 948.640805] CPU: 5 PID: 0 Comm: swapper/5 Tainted: G O 4.9.253-tegra #5
[ 948.640939] Hardware name: NVIDIA Jetson Xavier NX Developer Kit (DT)
[ 948.641054] Call trace:
[ 948.641125] [] dump_backtrace+0x0/0x198
[ 948.641225] [] show_stack+0x24/0x30
[ 948.641321] [] dump_stack+0xa0/0xc4
[ 948.641413] [] panic+0x12c/0x2a8
[ 948.641504] [] watchdog_check_hardlockup_other_cpu+0x11c/0x120
[ 948.641632] [] watchdog_timer_fn+0x98/0x2c0
[ 948.641739] [] __hrtimer_run_queues+0xd8/0x360
[ 948.641846] [] hrtimer_interrupt+0xa8/0x1e0
[ 948.641974] [] arch_timer_handler_phys+0x38/0x58
[ 948.642442] [] handle_percpu_devid_irq+0x90/0x2b0
[ 948.642931] [] generic_handle_irq+0x34/0x50
[ 948.643354] [] __handle_domain_irq+0x68/0xc0
[ 948.643816] [] gic_handle_irq+0x5c/0xb0
[ 948.648542] [] el1_irq+0xe8/0x194
[ 948.653100] [] cpuidle_enter_state+0xb8/0x380
[ 948.659220] [] cpuidle_enter+0x34/0x48
[ 948.664297] [] call_cpuidle+0x44/0x70
[ 948.669630] [] cpu_startup_entry+0x1b0/0x200
[ 948.675668] [] secondary_start_kernel+0x190/0x1f8
[ 948.681711] [<0000000080f6e1a8>] 0x80f6e1a8
[ 948.686172] SMP: stopping secondary CPUs
[ 949.781901] SMP: failed to stop secondary CPUs 0,5
[ 949.782034] Kernel Offset: disabled
[ 949.782102] Memory Limit: none
[ 949.782163] trusty-log panic notifier - trusty version Built: 02:25:37 Apr 17 2022 [ 949.794688] Rebooting in 5 seconds…
[ 954.803854] SMP: stopping secondary CPUs
[ 955.862567] SMP: failed to stop secondary CPUs 0,5
?hutdown state requested 1
Rebooting system …

i also received waring: tegra-ubuntu kernel: [ 5463.150089] soctherm: OC ALARM 0x00000001

I wonder what causes this problem?