Technologies for facilitating vehicle-to-vehicle (V2V) communications includes an on-board vehicle control system of an autonomous vehicle configured to identify one or more autonomous vehicles with which to communicate and transmit a communication frame usable to indicate that the autonomous vehicle intends to join a cluster of autonomous vehicles defined by the one or more autonomous vehicles. The communication frame includes a structure having a contention channel, a control channel, and a data channel, which are used to communicate requests, intentions, and/or data.