In recent years, the vehicular ad hoc network has attracted worldwide attention from academe and industry. Many researches have been executed to improve the quality of services (QoS) of the intelligent transportation system. However, current existing channel access schemes at the medium access control layer specified in 802.11 protocol, including hybrid coordination function control channel access (HCCA) and enhanced distributed channel access, could not efficiently achieve the QoS requirements in some special situations. This paper proposes a delay guaranteed HCCA (DG-HCCA) scheduling scheme, which works based on a Markov decision process model and the measurement of historic performance, to guarantee the QoS enhanced data transmission for vehicles to roadside unit. Besides, this paper also presents a performance analysis model to systematically evaluate the system performance of the channel utility and the average delay. The performance of the proposed delay guaranteed HCCA scheduling scheme is compared with that of original HCCA scheme specified in 802.11p standard and other 2 HCCA improved schemes by the simulation experiments. The simulation results demonstrate that the proposed solution could highly fulfill the transmission delay requirements with a better channel utility and less loss rates than those by the standard HCCA scheme and other 2 schemes.