Background:The automotive industry’s shift towards automated driving introduces new safety, reliability, and real-time challenges. While Service-oriented Architectures offer modular and scalable solutions, they struggle to meet stringent safety requirements. Aim:This work enhances the reliability and safety of automated driving systems by introducing a taxonomy of monitoring aspects and a runtime monitoring synthesis approach, both tailored to Service-oriented Architectures. Method:A monitoring taxonomy is developed using Contract-based Design, extending Service-oriented Architectures by explicitly formalising service behaviours as contracts. This enables runtime verification against well-defined expectations and facilitates the automated synthesis of runtime monitors. Results:The approach is evaluated in the CARLA simulator using a Construction Zone Assist use case, demonstrating its effectiveness in realistic driving scenarios. Additionally, the scalability and performance are assessed through resource utilisation. Conclusion:Combining the taxonomy with runtime monitor synthesis provides a robust framework for ensuring that safety-critical automotive systems meet operational standards, fostering innovation without compromising safety.