Vehicular sensor networks (VSNs) have emerged as a paradigm for improving traffic safety in urban cities. However, there are still several issues with VSNs. Vehicles equipped with sensing devices usually upload large amounts of data reports to a remote cloud center for processing and analyzing, causing heavy computation and communication costs. Additionally, to choose an optimal route, it is required for vehicles to query the remote cloud center to obtain road conditions of the potential moving route, leading to an increased communication delay and leakage of location privacy. To solve these problems, this paper proposes an efficient privacy-preserving data sharing (EP 2 DS) scheme for fog-assisted vehicular sensor networks. Specifically, the proposed scheme utilizes fog computing to provide local data sharing with low latency; furthermore, it exploits a super-increasing sequence to format the sensing data of different road segments into one report, thus saving on the resources of communication and computation. In addition, using the modified oblivious transfer technology, the proposed scheme can query the road conditions of the potential moving route without disclosing the query location. Finally, an analysis of security suggests that the proposed scheme can satisfy all the requirements for security and privacy, with the evaluation results indicating that the proposed scheme leads to low costs in computation and communication.