Improving road safety is among the main objectives of Vehicular Ad-hoc NETworks (VANETs) design. This objective would be achieved essentially by the use of efficient safety applications which should be able to wirelessly broadcast warning messages between neighbouring vehicles in order to inform drivers about a dangerous situation in a timely manner. To insure their efficiency, safety applications require reliable periodic data dissemination with low latency. Medium Access Control (MAC) protocols play a primary role to provide efficient delivery and avoid as much as possible data packet loss. In fact, in distributed MAC approaches, packet loss is a consequence of collisions resulted from well known situations of the exposed and hidden node situations. This paper introduces an Adaptive TDMA Slot Assignment Strategy (ASAS) for VANET based on clustering of vehicles. The main aim of this work is to provide a MAC layer protocol that can reduce inter-cluster interference under different traffic loading conditions without having to use expensive spectrum and complex mechanisms such as CDMA or OFDMA. An analysis and simulation results are presented to evaluate the performance of ASAS. Moreover, we compare its performance with two TDMA MAC protocols DMMAC and VeMAC