An adaptive forward lighting system for a vehicle includes a camera having a field of view in a forward direction of travel of the vehicle. A control includes an image processor that processes image data captured by the camera to determine presence of an object in the field of view of the camera. The control receives vehicle data via a communication bus of the vehicle, with the vehicle data including vehicle trajectory data. The image processor processes captured image data to determine presence of lane markers in the field of view of the camera. The control adjusts a light beam emitted by a headlamp of the vehicle at least in part responsive to determination of the presence of the object in the field of view of the camera. Adjustment of the light beam of the vehicle headlamp may depend, at least in part, on trajectory of the vehicle.