Adaptively steered vehicle headlamps using driver gaze direction and head direction

A vehicle for travelling on a roadway with a driver, comprising:

• a driver monitor sensing a driver gaze angle relative to a vehicle heading along the roadway and sensing a driver head angle relative to the vehicle heading;
• a headlamp system having a steerable headlamp configured to illuminate the roadway with a light beam along a selectable projection angle;
• and
• a controller configured to:
• compare the driver gaze angle to a first threshold angle;
• determine a difference between the driver gaze angle and the driver head angle;
• when the driver gaze angle is greater than the first threshold angle and the difference is less than a second threshold angle, then adjust the projection angle to a target angle based on the driver gaze angle;
• detect a succeeding sightline when the driver gaze angle and the driver head angle move away from the target angle by at least a predetermined angle;
• determine whether the driver gaze angle and the driver head angle return to the target angle within a predetermined time;
• and
• terminate the adjusting of the projection angle to the target angle if the driver gaze angle and the driver head angle do not return to the target angle within the predetermined time.