Cyber-physical systems (CPS), such as automotive systems, are very difficult to design due to the tight interactions between the physical dynamics, computational dynamics and communication networks. In addition, the evaluation of these systems at the early design stages is very crucial and challenging. Model-based design (MBD) approaches have been applied in order to manage the complexities due interactions. In this paper, we present a case study to demonstrate the systematic design, analysis and evaluation of an integrated automotive control system. The system is composed of two independently designed controllers, a lane keeping controller and an adaptive cruise controller, which interact as a result of the integration. The integrated system is deployed on a hardware-in-the-loop simulator for evaluation under realistic scenarios. We present experimental results that demonstrate the effectiveness of the approach.