A control system for a lamp (RHL, LHL) of a vehicle, the control system comprising: a target irradiating direction setting unit configured to set, in accordance with an operating condition of the vehicle, a target irradiating direction of the lamp (RHL,LHL); and an actuator configured to control, based on a reference direction (Ox), an irradiating direction of the lamp (RHL, LHL) to be directed in the target irradiating direction, wherein the actuator comprises a reference setting section arranged to execute a reference setting operation to set the irradiating direction of the lamp (RHL,LHL) to be directed in the reference direction (Ox), and characterized in that the target irradiating direction setting unit comprises: a condition determining section arranged to determine whether the reference setting section has executed the reference setting operation; and a reference setting command section arranged so that, when the condition determining section determines that the reference setting section has not yet executed the reference setting operation, the reference setting command section instructs the reference setting section to execute the reference setting operation, wherein the actuator further comprises: a reference setting memory to store information indicating that the reference setting operation has been executed, wherein the condition determining section is arranged to determine, based on the information stored in the reference setting memory, whether the reference setting operation has been executed. a target irradiating direction setting unit configured to set, in accordance with an operating condition of the vehicle, a target irradiating direction of the lamp (RHL,LHL); and an actuator configured to control, based on a reference direction (Ox), an irradiating direction of the lamp (RHL, LHL) to be directed in the target irradiating direction, wherein the actuator comprises a reference setting section arranged to execute a reference setting operation to set the irradiating direction of the lamp (RHL,LHL) to be directed in the reference direction (Ox), and characterized in that the target irradiating direction setting unit comprises: a condition determining section arranged to determine whether the reference setting section has executed the reference setting operation; and a reference setting command section arranged so that, when the condition determining section determines that the reference setting section has not yet executed the reference setting operation, the reference setting command section instructs the reference setting section to execute the reference setting operation, a condition determining section arranged to determine whether the reference setting section has executed the reference setting operation; and a reference setting command section arranged so that, when the condition determining section determines that the reference setting section has not yet executed the reference setting operation, the reference setting command section instructs the reference setting section to execute the reference setting operation, wherein the actuator further comprises: a reference setting memory to store information indicating that the reference setting operation has been executed, wherein the condition determining section is arranged to determine, based on the information stored in the reference setting memory, whether the reference setting operation has been executed. a reference setting memory to store information indicating that the reference setting operation has been executed, wherein the condition determining section is arranged to determine, based on the information stored in the reference setting memory, whether the reference setting operation has been executed.