Vehicle ad-hoc networks (VANETs), which support various important applications for intelligent transportation systems (ITSs), consist of vehicle-to-vehicle and vehicle-to-infrastructure communications based on vehicles and roadside units (RSUs). Medium access control (MAC) plays a critical role in providing efficient broadcast services for VANETs. Unlike other types of networks, VANETs suffer from rapid changes in topology, resulting in frequent network disconnections caused by the high mobility of nodes. Hence, adaptive MAC protocols, which dynamically adjust the interval according to the traffic conditions, are essential to VANETs. This study proposes a cooperative and reliable RSU-assisted IEEE 802.11p-based multi-channel MAC protocol for VANETs, called RAM. In our proposal, an RSU is used to both calculate the optimized interval and keep track of the safety packet transmission. We also present a cooperative scheme for the retransmission of safety packets that failed to broadcast because of hidden nodes. The simulation results show that the RAM not only allows safety packets to be broadcast more efficiently using the existing MAC protocols, but also outperforms the existing MAC protocols in terms of the packet delivery ratios for safety and control packets. INDEX TERMS VANET, medium access control, adaptive MAC protocol, Markov chain models.