  Vehicle-to-everything (V2X) perception is an innovative technology that
enhances vehicle perception accuracy, thereby elevating the security and
reliability of autonomous systems. However, existing V2X perception methods
focus on static scenes from mainly vehicle-based vision, which is constrained
by sensor capabilities and communication loads. To adapt V2X perception models
to dynamic scenes, we propose to build V2X perception from road-to-vehicle
vision and present Adaptive Road-to-Vehicle Perception (AR2VP) method. In
AR2VP,we leverage roadside units to offer stable, wide-range sensing
capabilities and serve as communication hubs. AR2VP is devised to tackle both
intra-scene and inter-scene changes. For the former, we construct a dynamic
perception representing module, which efficiently integrates vehicle
perceptions, enabling vehicles to capture a more comprehensive range of dynamic
factors within the scene.Moreover, we introduce a road-to-vehicle perception
compensating module, aimed at preserving the maximized roadside unit perception
information in the presence of intra-scene changes.For inter-scene changes, we
implement an experience replay mechanism leveraging the roadside unit's storage
capacity to retain a subset of historical scene data, maintaining model
robustness in response to inter-scene shifts. We conduct perception experiment
on 3D object detection and segmentation, and the results show that AR2VP excels
in both performance-bandwidth trade-offs and adaptability within dynamic
environments.
