arXiv:2610.41423v1 Announce Type: cross Abstract: Cellular Vehicle-to-Everything(C-V2X) sidelink communication allows autonomous resource selection via distributed scheduling without base station coverage. However, the limited perception of wireless resources may lead to resource allocation conflicts, especially when wireless resources are relatively scarce. In this paper, we propose a distributed clustering and resource scheduling scheme based on collaborative perception of wireless resources. The scheme innovatively integrates wireless resource sensing states into the clustering process. Based on the constructed vehicle clustering structure, the cluster heads fuse the distributed perception data of wireless resources from cluster members to generate more accurate collaborative perception results of the environment where the clusters are located, so as to support more reliable resource scheduling and reduce resource allocation conflicts. Simulation results show that the proposed scheme achieves higher topological stability than conventional clustering schemes based solely on mobility, and superior communication performance compared to the autonomous resource allocation mechanism of C-V2X.