Intelligent Transportation Systems emerged to meet the increasing demand for more efficient, reliable and safer transportation systems. These systems combine electronic, communication and information technologies with traffic engineering to respond to the former challenges. The benefits of Intelligent Transportation Systems have been extensively proved in many different facets of transport and Soft Computing has played a major role in achieving these successful results. This book chapter aims at gathering and discussing some of the most relevant and recent advances of the application of Soft Computing in four important areas of Intelligent Transportation Systems as autonomous driving, traffic state prediction, vehicle route planning and vehicular ad hoc networks.