I. Introduction
Modern embedded systems have been widely used in all aspects of our everyday life. In contrast to traditional embedded systems which used to be simple and simple-purpose, modern embedded systems are increasingly taking on characteristics of general-purpose systems requiring commodity and open APIs [1], but there are still some systems demanding the conflicting requirements such as real-time performance, security and so on. Virtualization can provide some attractive benefits to embedded systems, of which the most important one is its ability to provide functional and performance isolation for two types of execution entity: native applications and guest operating systems, which equips the embedded systems with security and reliability [2].