A system and method is provided for dynamically self-allocating channel access for communication between communicating entities in an inter-vehicle ad hoc network. A respective entity observes communication activity over each inter-vehicle ad hoc network communication channel. Available time slots are identified within each communication channel for the respective entity to broadcast a data packet in response to the observed communication activity on a respective channel. An available communication channel and timeslot are selected to broadcast the data packet. A message is broadcast within the inter-vehicle ad hoc network that provides a schedule identifying the communication channel and time slot selected for broadcasting the data packet by the respective entity. The data packet is broadcast over the selected communication channel at the respective timeslot.