The provision of Quality of Service (QoS) over wireless networks has recently been the subject of intensive research. The emerging solutions recommend combining the cross-layer and the autonomic paradigms. Most proposed cross-layer solutions consider purely local information in their adaptations and do not care about the effects of such egoistic behavior on other network nodes. This non-collaborative behavior limits the overall system performance. In this work, we develop a new QoS routing protocol called QoS-PAR (QoS Position Aided Routing protocol) to prove the importance of combining cross-layering and adaptations based on network knowledge for autonomous organization of wireless networks. QoS-PAR integrates admission control as well as resources reservation mechanisms. We consider two QoS metrics: the minimum required bandwidth and the maximum end to end delay. The bandwidth availability test takes into account the intra-flow interference and the interferences of one hop as well as the carrier sensing neighbors. To evaluate the efficiency of our proposal, extensive simulations have been done. Results show, that our XLEngine-based QoS-PAR protocol significantly outperforms the AODV protocol, which is based on the TCP/IP layered architecture.