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Vehicular Ad-hoc Networks(VANETs) can facilitate many applications such as road safety, intelligent transportation and advertising. These applications usually call for multi-hop data delivery from access points to moving vehicles with user specified delay requirements. However, most existing routing protocols for VANETs only focus on message forwarding from vehicles to access points or take no account of the delay constraint. In this paper, we focus on the development of a carry-and-forward scheme that delivers data from access points to vehicles. Utilizing the vehicle's trajectory obtained from the navigation system, we propose TaDB, a Trajectory-assisted Delay Bounded Message Delivery Algorithm. To choose delivery route within delay constraint while minimizing transmission cost, TaDB uses a Cluster-Aware Link Delay Model to estimate link delay for both the Carry and the Forward strategies on each road segment. TaDB also leverages the vehicle's planned trajectory to estimate its future location. Simulation results show that TaDB can achieve a delivery ratio very close to optimal.