A vehicular control system includes a camera and a control having a processor that processes image data captured by the camera. The control determines a projected path of travel of the equipped vehicle. The processor processes captured image data to determine an estimated time to arrival of another vehicle at a location on a road being travelled by the other vehicle that is in the projected path of travel of the equipped vehicle. The projected path of travel of the equipped vehicle may cross a traffic lane being travelled by the other vehicle or may join a traffic lane being travelled by the other vehicle. Responsive at least in part to determination that the estimated time to arrival of the other vehicle is less than a threshold time, the control determines that it is not safe for the equipped vehicle to proceed along the projected path of travel.