This report describes work conducted to support resolution of NPRM comments regarding a compliance test procedure for “adaptive driving beam” (ADB) headlighting systems. The work supports a National Highway Traffic Safety Administration rulemaking effort initiated by a 2018 notice of proposed rulemaking (NPRM) that proposed to allow ADB headlighting systems on light vehicles in the United States. The test procedure involving full-vehicle, dynamic test scenarios performed on a test track was carried out to provide needed data to support resolution of comments on NHTSA’s NPRM. Testing based on SAE’s Surface Vehicle Recommended Practice J3069, “Adaptive Driving Beam” test procedure, was also conducted. Work included development of a test to serve as a surrogate for a stimulus vehicle that would provide a stimulus needed to observe the performance of an ADB headlighting system. Testing was conducted to ensure validity of dynamic illuminance measurements through comparison to static measurements; verify the proposed NHTSA test procedure provides accurate results for several light source types; evaluate a current vehicle’s lower beam headlamp performance against the NHTSA-proposed ADB glare limit criteria; carry out the draft NHTSA test procedure with an ADB-equipped vehicle; carry out the SAE J3069 test procedure with an ADB-equipped vehicle; and assess whether ADB-equipped vehicles respond similarly when tested using the modified NHTSA test procedure with a stimulus test fixture as when using a 3FMVSS-compliant vehicle. The test fixture fitted with original equipment lamps was found to serve as a reasonable surrogate for an actual vehicle. The test procedure was observed to be effective, efficient, and observed to be effective and efficient at determining whether an ADB system can limit glare to other motorists to specified criteria levels. In addition, the test procedure adequately accounted for test surface conditions and other sources of test variability. Through the evaluations and verifications performed, it was determined that a full-vehicle performance test for ADB head-lighting systems was suitable for FMVSS use and effective in determining whether an ADB headlighting system limits glare to other motorists to specified criteria levels.