This article describes how software quality engineering is an inevitable activity, which must be accomplished during software development process in order to avoid software failures and ensuring its quality. Embedded systems are computer platforms, which require high quality software. Many researchers interested in embedded systems have demonstrated that the quality of the embedded software has a significant effect on the performances of the entire system. In the literature, several works have been emerged from this line of research. The aim of this article is to present a survey of the most important works, which deal with embedded software quality engineering. A comparative study is also given in order to show strengths and weaknesses of each work.