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Vehicular ad hoc network (VANET) is supposed to provide vehicles with reliable and efficient data transmissions for various applications, especially for the broadcast-based safety message. In this paper, we present a dedicated and reliable broadcast scheme for VANET safety message based on the use of positive acknowledgement from each message receiver. Moreover, our approach can be adaptive to the dynamic traffic density, which is highly important to design a broadcast scheme applicable to various traffic conditions. Simulation results show that the proposed scheme performs better on critical statistics we are concerned.