Inter-vehicle and roadside-to-vehicle communications can contribute to a safer and more efficient driving experience by providing time-sensitive and location-aware information. However, its performance suffers from vehicle mobility, intermittent user connectivity, and wireless channel unreliability. In this paper, we propose a novel cross-layer optimization approach based on our Adaptive Distributed Cooperative Medium Access Control (ADC-MAC) protocol to guarantee the quality-of-service (QoS) of real-time applications. Markov chain based theoretical analysis show that our proposed priority preemption approach can improve the quality of a real-time application by guaranteeing its bandwidth and reducing its transmission latency.