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Service-oriented architectures (SOAs) are well-established solutions in the IT industry. Their use in the automotive domain is still on the way. Up to now, the automotive domain has taken advantage of service-oriented architectures only in the area of infotainment and not for systems with hard real-time requirements. However, applying SOA to such systems has just started but is missing suitable design and verification methodologies. In this context, we target to include the notion of model-based design to address fail-operational systems. As a result, a model-based approach for the development of fail-operational systems based on dynamic reconfiguration using a service-oriented architecture is illustrated. For the evaluation, we consider an example function of an automatically controlled braking system and analyze the reconfiguration time when the function fails.