A vehicle includes a plurality of exterior lamps each arranged to cast a light pattern in a vicinity of the vehicle. The vehicle also includes at least one imaging device configured to capture image data indicative of the vicinity including at least one light pattern. The vehicle further includes a controller programmed to cause a variance action by a particular one of the plurality of exterior lamps, and monitor the image data for a change in a light pattern associated with the particular one of the exterior lamps. The controller is also programmed to generate a signal indicative of a fault condition associated with the particular one of the exterior lamps in response to no change in the light pattern.