An adaptive front-lighting system includes a lamp deflection angle controlling means for controlling a deflection angle of an auxiliary lamp that is attached to a main lamp corresponding to a traveling state of a vehicle. The system is provided with vehicle halting state detecting means for detecting a halted state in which the vehicle is halted or traveling at a very low speed, and illumination controlling means for turning off or dimming an auxiliary lamp when the halted state is continued for more than a prescribed time period. When the vehicle is halted with the auxiliary lamp deflected, and the halted state is continued for more than the prescribed time period, the auxiliary lamp is turned off or dimmed, and thus other cars and pedestrians are prevented from being dazzled by the auxiliary lamp, and the trailing car may be prevented from having a sense of insecurity.