Emissions reduction and safety are two of the main objectives to be ensured when traveling on the road; for this reason, the exploitation of new ADAS (“Advanced Driver Assistance Systems”) technologies can have a strong beneficial impact. Nowadays, more and more assistance systems, such as adaptive cruise control and emergency braking, are present on heavy-duty vehicles to support the driver’s tasks. Therefore, before deployment on a fleet, testing operations must be carried out to assess proper functioning and evaluate performance in critical scenarios. Moreover, safety issues and other aspects, such as vehicle and driver preparation costs, play an important role in project evaluation.