“…2) Second, when a reconfiguration is needed for coping with environmental changes (e.g., changes in its dependent resources), the system can conduct performance tuning (e.g., by SafeTune [6]) to find the new balance point (i.e., supporting stable driving even when its available resources are reduced), while not breaking the invariants implied by the underlying resource-intentionconfiguration relationships (i.e., still guaranteeing the safe-driving principle). 3) Third, when an evolution is needed for replacing the original code for implementing new functionalities, the system can conduct dynamic software update (e.g., by PASTA [5]) to transform the system from its old version to the new version without shutdown and restart. This feature is highly desirable (e.g., the vehicle can thus upgrade its system version anytime, even during driving).…”