Automatically create BQ tables for streaming inserts

Maybe I was wrong: is there a way to automatically create a target table for the tabledata.insertAll command? If yes, please point me in the right direction.

If not, what is the best approach to create the necessary tables? Check existing tables at startup and create ones that don't exist when loading from GCS? Or can they be created directly from the code without a load job?

I have a number of event classes (Python Cloud endpoints), and the ideal solution would be to use these definitions to create the corresponding BQ tables.