A safety system for a vehicle includes an imaging sensor configured to be disposed at a vehicle so as to have an exterior field of view external of the equipped vehicle. An image processor is operable to process image data captured by the imaging sensor to detect a vehicle exterior the equipped vehicle and to determine if a collision between the detected vehicle and the equipped vehicle is pending. Responsive to such determination of the pending collision, a safety feature of the vehicle is triggered before any actual impact occurs. The triggered safety feature is a reversible adjustment of a seat headrest, a seat belt, a seat setting or a door lock of the equipped vehicle. If the pending collision is avoided or otherwise does not occur, the adjusted safety feature returns to its unadjusted condition that existed prior to such determination of the pending collision.