A signal is a specific type of sign that is usually characterized as requiring an immediate response.
In this sense, the stop sign at the end of a motorway exit may more correctly be called a stop signal (i.e., road signs are rather road signals).
The function of the signal is to elicit an instantaneous response – here and now (at the same time that someone elicited it).
Failure to do so may trigger other signals – sirens and gestures for the arrival of the police.