An imaging system for a vehicle includes a camera having a field of view exterior of a vehicle with the field of view being in a forward direction of travel of the vehicle. The camera is operable to capture image data and an image processor is operable to process the image data. A control, responsive to the image processor, is operable to provide at least (a) an adaptive forward lighting function for at least one forward facing light of the equipped vehicle, (b) a lane departure warning function and (c) a traffic control signage function. The control may provide the traffic control signage function at least in part by recognition of a geometrical organization present in the forward field of view of the camera. The adaptive forward lighting function may provide adjustment of a beam direction of the at least one forward facing light of the equipped vehicle.