Vehicular Ad hoc Network (VANET) is one of technologies to realize various ITS services for safe driving and efficient traffic control. However, data delivery in VANETs is complicated due to high mobility and unreliable wireless transmission. In this paper, we develop a novel forwarding scheme to deliver packets in a reliable and timely manner. The proposed forwarding scheme uses traffic statistics to predict the encounter of two vehicles, and optimize its forwarding decision by taking into consideration the probability of successful transmission between them at the encounter place. We evaluate our scheme through simulations and show that our proposed scheme provides reliable data delivery in VANETs.