The Cellular Vehicle-to-Everything (C-V2X) is an emerging technology for vehicular networks in which resource allocation mechanisms play a crucial role in its overall performance. In C-V2X, there are two resource allocation modes known as mode 3 and mode 4. This study focuses on mode 3 where the resources are scheduled and allocated by the eNB to vehicles. Contrary to mode 4, the 3GPP has not standardized a specific resource allocation algorithm for mode 3. In this context, we propose in this paper, a new clustering-based resource allocation algorithm for mode 3, named Maximum Inter-Centroids Reuse Distance (MIRD). The main goal of our scheduling scheme is to efficiently allocate resources to vehicles with the application of a specific resource reuse mechanism between clusters. MIRD scheduling scheme is validated through simulations in realistic urban scenario, conducted using the LTEV2VSim simulator. The results demonstrate that our proposed algorithm outperforms another reference algorithm for mode 3 found in the literature.