Advanced Driver Assistance Systems (ADAS) play a pivotal role in modern road vehicles, enhancing safety. However, persistent challenges in managing ADAS systems and automated vehicles during dynamic traffic scenarios hinder the widespread adoption of ADAS and Automated Driving (AD) systems. Recognizing the susceptibility of perception sensors to weather and road hazards, along with their typical operational limitations, V2X communication becomes critically important to achieve higher levels of autonomy and robustness. In the EU-funded project ESRIUM, safety improvement is attained by developing a digital map capable of accurately identifying road damage and offering real-time recommendations for connected vehicles. In this paper, we report the implementation and road testing results for the infrastructure-assisted automated driving system developed within the ESRIUM project. These tests were conducted on real-life public roads and under typical driving conditions on the Austrian highway A2, showcasing the effectiveness of infrastructure-assisted AD vehicles in diverse traffic scenarios. These findings represent a significant advancement in validating automated vehicles on operational highways, emphasizing the vital role of infrastructure and
V2X communication in enhancing ADAS/AD road safety and efficiency.