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Cooperative Vehicle-Infrastructure System (CVIS) can provide innovative services for traffic management and enable trips to be safer, more coordinated, and smarter. In the CVIS, the vehicles upload crowd sensing data to the Vehicular Edge Computing (VEC) server for quick data fusion and informed decision-making. However, with the ever-increasing number of vehicles, the VEC server cannot undertake massive computation-intensive tasks due to the limited edge computing capabilities. In this paper, we propose a reverse offloading framework that can fully utilize the vehicular computation resource to relieve the burden of the VEC server and further reduce the system latency. Under the proposed offloading framework, the binary reverse offloading (BRO) and partial reverse offloading (PRO) strategies are designed for two types of tasks, i.e., non-partitioned tasks and partitioned tasks. We formulate the system latency minimization problem by optimizing reverse offloading decisions, and the communication and computation resources allocation. Due to the non-convex and existing variables coupling, the original problem is transformed into the equivalent weighted-sum optimization problem. Based on the alternative optimization, we decouple the weighted-sum optimization problems into the two subproblems, and the closed-form expressions of transmission power and computation frequency of vehicles and RSU are derived. Low complexity greedy based efficient searching (GES) algorithm and joint alternative optimization based bi-section searching (JAOBSS) algorithm are proposed for BRO and PRO strategies, respectively. The algorithm complexity and performance bounds are analyzed. Simulation results show that the proposed GES algorithm can achieve optimal performance with low complexity. Besides, the proposed GES and JAOBSS algorithms can significantly improve the performance compared with other baseline schemes by 6.14% and 13.46% at least. [ABSTRACT FROM AUTHOR]