LTE-V2X can provide vehicles with reliable and efficient communication capabilities. In LTE-V2X, Vehicle User Equipment (VUE) has two communication modes: centralized scheduling (Mode 3) and distributed scheduling (Mode 4). Aiming at the packet collision caused by excessive VUEs in the vehicle dense scenes, in this study, we classify the V2X applications according to such indices as communication delay and distance and propose an autonomous vehicle scheduling algorithm. In this way, different V2X applications can choose an appropriate communication mode according to their own performance requirements, alleviating the pressure of V2X resouce allocation in the dense scenes. Furthermore, we build a Matlab simulation platform to verify the performance of the proposed algorithm. The simulation results show that the proposed algorithm can keep the Packet Delivery Ratio (PDR) above 0.6 in dense scenes, superior to the mainstream resource scheduling algorithms in a single communication mode.