A vehicular control system includes a camera sensor, a radar sensor and a control having a processor that processes image data captured by the camera sensor and radar data captured by the radar sensor to detect another vehicle and to determine an estimated time to arrival of the other vehicle at a location on a road being travelled along by the other vehicle that is in the projected path of travel of the equipped vehicle. Responsive at least in part to (i) determination that the equipped vehicle will arrive at the location before the estimated time to arrival of the other vehicle at the location elapses, and (ii) determination that an object is not present in the projected path of travel of the equipped vehicle, the control determines that it is safe for the equipped vehicle to proceed along the projected path of travel.