Unfortunately, in many cases, the ECU software is highly customized for specific applications; it is adapted to the specific platform, the target emission standard, and the employed set of sensors and actuators. This customization occurs because designers adapt the set of mechanical components to the specific application, and rarely reuse an existing engine control system; the software is, in turn, adapted to the employed hardware. This application-oriented approach leads to disadvantages: a single change in the requirements or in the employed system may lead to a completely new software development. Additionally, the software must be redesigned when a new vehicle is developed, even if the hardware set exhibits small variations and the target emission standard does not vary. According to [7], the R&D cost of an engine control system for a diesel passenger vehicle is approximately 14 million dollars. This amount of money includes the combustion optimization phase (design of mechanical components and of engine algorithms), the emission testing of the whole system (engine, after-treatment, and ECU), and the development of new models for the ECU.