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Safety messages dissemination in vehicular networks requires real-time and deterministic medium access. The existing standard, IEEE 802.11p, for vehicular networks is based on Carrier Sense Multiple Access (CSMA) which is not a deterministic mechanism as collision may occur to access the medium that can cause unbounded delays. Therefore, in this paper, we presented a new deterministic Medium Access Control (MAC) scheme for vehicular communications that ensure reliable safety messages dissemination in vehicular networks. In the proposed scheme, each Road Side Unit (RSU) and On-Board Units (OBU) is assigned a time slot in a fix medium access time (elementary cycle). Each RSU controls time access using the knowledge of the connected vehicles. Two realistic scenarios, Vehicle-to-Infrastructure (V2I)/Infrastructure-to-Vehicle (I2V) and Vehicle-to-Vehicle (V2V), are presented to test the …