Recent studies demonstrate that Cognitive Radio (CR) technology can increase the spectrum efficiency of wireless systems, provided that the activity of primary users (PUs) must be carefully protected. For this reason, several sensing schemes leverage the cooperation among nodes to increase the accuracy of PU detection. In this paper, we propose to employ the CR principles in the vehicular environment in order to increase the spectrum opportunities for inter-vehicle communication (IVC). We propose a cooperative sensing and spectrum allocation scheme through which vehicles can share information about spectrum availability of TV channels on their path, and dynamically decide the channels to use on each road segment. Moreover, we investigate the role of vehicular mobility in the cooperation process, which might allow a vehicle to know in advance the spectrum availability on future locations along its path. Simulation results confirm the ability of our scheme in providing robust PU detection under fading conditions, and analyze the impact of some vehicular networks characteristics into the operations of CR systems.