Targeting to reduce the traffic accident and improve the traffic efficiency, vehicular network is designed to do message exchange via vehicle to vehicle (V2V) and vehicle to infrastructure (V2I) communications. For V2V communications, orthogonal resources (i.e., time slot) are usually allocated for every vehicle to avoid collisions in V2V communications, which needs complex signaling between vehicles and Base Station (BS), and thus it is not suitable for high mobility vehicular environment. Concerning the powerful computing capability of vehicles, this paper proposes a random resource selection scheme with successive interference cancellation receiving and the performance is fully investigated by stochastic geometry theory. The analytical results are verified by numerical computation and simulations. It is shown that the packet delivery ratio with proposed scheme is very close to that with orthogonal resource allocation scheme.