The integration of soft computing techniques has revolutionized the capabilities of autonomous vehicles (AVs), particularly in navigating and making decisions within complex, dynamic environments. This chapter explores the role of key soft computing methods—fuzzy logic, neural networks, and evolutionary algorithms—within 5G-enabled Internet of Things (IoT) architectures, enhancing AV adaptability and decision-making. Leveraging the ultra-low latency and high-speed communication offered by 5G, these techniques empower AVs to process real-time sensor data, manage uncertainty, and optimize resources more effectively. By addressing the challenges of unpredictable road conditions, real-time navigation, and safety-critical decision-making, soft computing transforms AVs into more resilient and efficient entities in smart cities. Case studies further demonstrate real-world applications, showcasing improved vehicle response times, cooperative driving capabilities, and adaptive traffic management. This chapter highlights the potential of soft computing within the AV ecosystem, underscoring its pivotal role in advancing intelligent, safe, and responsive transportation systems.