An image sensing system for a vehicle includes an imaging sensor comprising a two-dimensional array of light sensing photosensor elements, preferably formed on a semiconductor substrate, and a logic and control circuit comprising an image processor for processing image data derived from the imaging sensor. The logic and control circuit generates at least one control output for controlling at least one light of the vehicle. The imaging sensor is disposed at an interior portion of the vehicle proximate the windshield of the vehicle and has a forward field of view to the exterior of the vehicle through an area of the windshield. The at least one control output preferably controls at least one of (i) a beam state of a headlight; (ii) a beam aim of a headlight; (iii) a beam pattern of a headlight and (iv) a beam intensity of a headlight.