Coasting in neutral or Sailing has been widely recognized as one of the components of eco-driving. In neutral, the vehicle’s kinetic energy is preserved to keep the vehicle moving compared to coasting in gear, creating drag on the vehicle due to pumping and friction losses from the engine reaching the wheels. The increased coasting distance may lead to better fuel economy as compared to in-gear coasting which typically uses fuel cut-off. This has already been recognized in many vehicle implementations with names like Eco-Pro or Green mode in which the vehicle is able to coast in neutral in the absence of driver input. If available, a camera can assist detecting the obstacles in front for shifting gear back to drive as there might be the need for immediate torque for collision avoidance maneuvers. This paper presents a research prototype vehicle that has been setup to investigate and further develop an advanced coasting function connecting ADAS. This vehicle has an ADAS module integrated to leverage situational awareness for switching between drive and neutral. Radar and camera sensors have been implemented for potential obstacle tracking. An algorithm has been developed which fuses the lane detection from camera and obstacle information from radar to detect these obstacles more accurately even in case of curved roads. GPS combines with navigation to activate or deactivate sailing depending on the current location on route to destination. Information from these sensors has been combined to come up with algorithms which have been tested through simulation and actual vehicle test. The simulation results and tests show an improvement in fuel economy when using neutral sailing over the conventional in-gear coasting, when integrated with ADAS. These sensors also make sure that the driver has the torque available on the wheels when it might be required for maintaining safe operation capability in unexpected situations. Results from the simulator and vehicle testing have been presented to support the claim.