The key goal of our work is to provision sufficient reliability for real-time safety messages in CCH while optimising non-safety service delivery in SCH. We have developed analytical models for both broadcasting and unicasting to explore the relationship among traffic density, CCH packet loss ratio, SCH throughput, and the duration of each kind of intervals.Unlike assigning fixed channel interval in error-prone default channel access approach, we develop a multi-channel coordination algorithm which adaptively adjusts the duration of intervals to achieve better performance and reliability based on these models. Theoretical analysis and extensive simulation results demonstrate the accuracy of our model and the efficacy of the proposed algorithm. The algorithm almost doubles SCH throughput in low traffic density scenario and reduces packet loss ratio by up to 30%. We also show that the proposed algorithm converges rapidly to the optimal channel interval division. Many thanks go to Dr. Lei Rao, for her time to organize weekly meeting to discuss this project and her constructive and insightful comments on my work.