This paper provides a comprehensive survey of vehicular Visible Light Communication (VLC) systems, highlighting their potential in Intelligent Transportation Systems (ITS). VLC, which uses white light-emitting diodes (LEDs) to transmit information and illumination, offers several advantages over traditional radio frequency (RF) communications, including a large unlicensed bandwidth, safety for human health, security, and low cost. The paper discusses the technology's fundamental principles, system components, signal models, and potential applications, such as lane changing assistance, intersection assistance, platooning, and V2V/V2I communications. It also addresses environmental challenges like road reflections, interference, and weather conditions, emphasizing the need for realistic channel models. The paper reviews existing research on channel modeling, different vehicular VLC links, and emerging technologies like reconfigurable intelligent surfaces (RISs), multi-hop relaying, and digital twins. It concludes by discussing future research directions, including the integration of VLC with mmWave networks and the application of AI and ML algorithms.This paper provides a comprehensive survey of vehicular Visible Light Communication (VLC) systems, highlighting their potential in Intelligent Transportation Systems (ITS). VLC, which uses white light-emitting diodes (LEDs) to transmit information and illumination, offers several advantages over traditional radio frequency (RF) communications, including a large unlicensed bandwidth, safety for human health, security, and low cost. The paper discusses the technology's fundamental principles, system components, signal models, and potential applications, such as lane changing assistance, intersection assistance, platooning, and V2V/V2I communications. It also addresses environmental challenges like road reflections, interference, and weather conditions, emphasizing the need for realistic channel models. The paper reviews existing research on channel modeling, different vehicular VLC links, and emerging technologies like reconfigurable intelligent surfaces (RISs), multi-hop relaying, and digital twins. It concludes by discussing future research directions, including the integration of VLC with mmWave networks and the application of AI and ML algorithms.