V2V broadcast communication is not only promising for safety driving assistance but also enhancing automated driving ability by sharing information of vehicle moving behavior with other vehicles. However, an important issue is how to reduce information delivery delay and achieve dependable communication that is essential for automated vehicle control by machine. Since radio propagation often exhibits fading and shadowing on the road, V2V packet error happens probabilistically. Although repeated transmission method can enhance reliability of broadcast transmission, information delivery delay significantly increases as packet reception rate decreases. In order to reduce the delay, a relay-assisted broadcast transmission scheme is employed in this paper. The scheme can improve packet reception rate by path diversity and remarkably reduce average delivery delay due to repeated transmission. Performance with roadside relay stations considering urban environment with multiple intersections is evaluated through large-scale network simulation. The obtained results show that the average delivery delay is remarkably reduced by the relay-assist scheme to less than 20ms, which is less than a quarter of the direct V2V communication.