This presentation will introduce a case study to measure the effects and explore the issues when Context-Oriented Programming (COP) is applied to embedded systems development. COP is expected to improve testability and reusability because it can manage cross-cutting concerns that are difficult to handle in conventional programming languages. However, few empirical tests on embedded systems in particular and the quantitative effects of applying the COP approach are unknown. Although it is expected to improve testability and reusability, there are not many empirical studies. To solve this problem, we plan to conduct a case study of an actual experimental vehicle’s automobile driving assistance system. The experimental vehicle is equipped with a PC running Linux and ROS connected to the in-vehicle network and the Internet. The PC can be connected to 3D LiDAR, depth camera, and driver’s body measurement system. In the case study, we will measure the modularity, testability, reusability of the designed and implemented system.