Vehicular communication is the backbone of future Intelligent Transportation Systems (ITS). It offers a network-based solution for vehicle safety, cooperative awareness, and traffic management applications. For safety applications, Basic Safety Messages (BSM) containing mobility information is shared by the vehicles in their neighborhood to continuously monitor other nearby vehicles and prepare a local traffic map. BSMs are shared using mode 4 of Cellular V2X (C-V2X) communications in which resources are allocated in an ad hoc manner. However, the strict packet transmission requirements of BSM and hidden node problem causes packet collisions in a vehicular network, thus reducing the reliability of safety applications. Moreover, as vehicles choose the transmission resources in a distributed manner in mode 4 of C-V2X, the packet collision problem is further aggravated. This paper presents a novel solution in the form of a Space Division Multiple Access (SDMA) protocol that intelligently schedules BSM transmissions using vehicle position data to reduce concurrent transmissions from hidden node interferers. The proposed protocol works by dividing road segments into clusters and sub-clusters. Several sub-frames are allocated to a cluster and these sub-frames are reused after a certain distance. Within a cluster, sub-channels are allocated to sub-clusters. We implement the proposed SDMA protocol and evaluate its performance in a highway vehicular network. Simulation results show that the proposed SDMA protocol outperforms standard Sensing-Based Semi Persistent Scheduling (SB-SPS) in terms of safety range and packet delay.