A vehicular control system includes a forward viewing camera disposed at an in-cabin side of a windshield of a vehicle and viewing forward of the vehicle. Road curvature of a road along which the vehicle is traveling is determined responsive at least in part to processing by an image processor of image data captured by the camera. Responsive at least in part to processing of captured image data, a traffic lane of the road along which the vehicle is traveling is determined. Responsive at least in part to processing of captured image data, another vehicle present on the road and forward of the vehicle may be detected. Responsive at least in part to processing of captured image data, the system may determine that the detected other vehicle is travelling in a traffic lane to the left or to the right of the traffic lane along which the vehicle is traveling.