A communication system for a vehicle includes a phased array antenna and a controller. The phased array antenna has a plurality of elements. The controller may be configured to select a subset of the elements to beam form a main lobe of a radiation pattern of the antenna based on a speed and steering angle of the vehicle. Also, the controller may be configured to select a subset of the elements and shift a phase of a signal emitted from each of the subset of the elements to beam form a main lobe of a radiation pattern of the antenna based on a speed and a change in speed of the vehicle. Further, the controller may be configured to select the subset of the elements based on a signal indicative of a location of the vehicle and a map database of a surrounding area of the location.