This paper describes an approach to better link legal and technical perspectives when investigating how to safely operate remote assisted vehicles in mixed traffic and higher velocities. This approach is applied to prepare for automated trucks in Gothenburg, Sweden. We argue that the challenges we see for the market introduction and sustainability of such vehicles require innovation from a system perspective. Such system innovation includes different dimensions: technology/products, policy/regulations, infrastructure, behavior/values as well as business models, whereas we focus mainly on the first two perspectives here. The proposed innovations support cross border integration for the more comprehensive market introduction of automated goods transport; the approach further includes the legal/policy framework in Sweden, France and the US.