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of the automotive system (locality or functionality), a
hierarchy of these clusters is built. Based on this hier-
archical, multi-layered control architecture including
multiple MAPE-K cycles, self-adaptation is realized
during runtime by enforcing the systems’ require-
ments. A comparison of our multi-layered approach
in a self-healing scenario with realistic setups of up to
100 ECUs shows that local repair based on a layered
control architecture in such a system is more efficient
than a pure central approach. Moreover, it shows that
a responsibility split based on locality w.r.t. network
topology performs better than a split regarding func-
tional areas.
Furthermore, the approach presented in this paper
is adaptable to enhance other complex and networked
embedded systems (e.g. industrial plants, aircrafts or
railways) with self-adaptation and self-* properties.
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