In this paper, a novel spectrally efficient half-duplex cooperative transmission protocol is proposed for cooperative multiple-access channels in wireless vehicular networks, where multiple sources (vehicles) deliver messages to a common destination (roadside base station or roadside infrastructure) with the help of multiple decode-and-forward relays (roadside stations). The basic idea is to apply superposition coding at each transmitter in order to achieve the full diversity gain, where the linear zero-forcing detection is used at each relay to combat inter-relay interference. Compared to existing uplink cooperative protocols, the proposed scheme can exploit the cooperation involving both the relays and the sources. An achievable diversity-multiplexing trade-off is developed for the proposed transmission protocol. Even with strong inter-relay interference which has been ignored by many existing works, the proposed scheme can still approach the optimal multiple-input single-output upper bound. Numerical results have also been provided to demonstrate the performance of the proposed protocol.