A vehicle headlamp control system includes an imaging sensor and a control. The control processes data from the imaging sensor and generates at least one control output. Selection of a high beam state and a low beam state for a vehicle headlamp is responsive to the control output, and is determined responsive to a detection of an object of interest. The control is responsive to a signal indicative of a vehicle speed of the controlled vehicle, and inhibits adjustment of the vehicle headlamp from a low beam state to a high beam state when the vehicle speed is below a threshold speed level. The control is responsive to data indicative of a vehicle trajectory of the controlled vehicle, and inhibits adjustment of the vehicle headlamp from a low beam state to a high beam state when a radius of curvature of the vehicle trajectory is below a threshold value.