The vehicular ad-hoc network (VANET) based on dedicated short-range communication (DSRC) is a distributed communication system, in which all the nodes share the wireless channel with carrier sense multiple access/collision avoid (CSMA/CA) protocol. However, the backoff mechanism of CSMA/CA in the channel contention might cause uncertain transmission delay and impede a certain quality of service (QoS) of applications. Moreover, there still exists a possibility of parlous data-packets collision, especially for broadcast or non-acknowledgement (NACK) transmissions. The original contributions of this paper are summarized as follows: (1) Model the packets collision probability of broadcast or NACK transmission in VANET with the combination theory and investigate the potential influence of miss my packets (MMP) problem. (2) Based on the software define vehicular network (SDVN) framework and QoS requirement, a novel link-level scheduling strategy, which determines the start-sending time for each connection, is proposed to maximize packets delivery ratio (PDR). Alternatively, maximizing PDR has been converted to the overlap minimization among transmission durations. (3) Meanwhile, an innovative transmission scheduling greedy search (TSGS) algorithm is originally proposed to mitigate computational complexity. Extensive simulations have been done in a unified platform Veins combining SUMO and OMNET++. And numerous results show that the proposed algorithm can effectively improve the PDR by at least 15%, enhance the collision-avoidance performance by almost 40%, and reduce the MMP ratio by about 3% compared with the random transmitting, meanwhile meet the QoS requirement.