A system and method for implementing congestion control for vehicles based at least in part on weighted fair message rates is disclosed. The system comprises a measurement module, a calculation module and a determination module. The measurement module measures a channel busy ratio describing a fraction of time during which a channel is busy. The calculation module calculates a ratio error by comparing the measured channel busy ratio with a target channel busy ratio. The determination module determines a first parameter value for a first vehicle based at least in part on a ratio of weights and determines a message rate for the first vehicle based at least in part on the ratio error and the first parameter value. The message rate describes a speed for transmitting messages from the first vehicle.