To ensure traffic safety and improve traffic efficiency, vehicular networks come up with multiple types of messages for safety and efficiency applications. In sixth-generation (6G) systems, these messages should be timely and error-free disseminated through vehicle-to-vehicle (V2V) communication to ensure traffic safety and efficiency. V2V supports direct communication between two vehicle user equipments, regardless of whether a base station is involved. We propose a packet delivery ratio (PDR)-based message dissemination scheme (PDR-MD) between V2V in 6G-oriented vehicular networks to select relay vehicles when broadcasting emergent messages. This scheme grasps the balance between vehicle distance and PDR so as to reduce transmission delay while ensuring reliable PDR. We compared the PDR-MD scheme with other probabilistic broadcasting schemes. The experimental results show that the PDR-MD protocol can maintain close to 95% and above PDR in transmitting emergent messages, and the transfer rate stays below 40%.