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Service-oriented architectures are emerging as a promising solution to deal with the increasing complexity of automotive software systems. In this paper, we conduct a systematic mapping study to investigate the use of service-oriented architecture for the development of automotive software systems. This study aims at providing publication trends, available architectural solutions, core benefits and open challenges in the automotive service-oriented architectures. From an initial set of 341 peer-reviewed publications, we select 28 primary studies, which are classified and analysed using a systematic and comprehensive protocol. Using the extracted data, we provide both quantitative and qualitative analyses using vertical and orthogonal analysis. The results indicate that there has been a significant increase in the number of publications recently, and that the studies focused on defining functionalities and data flows among them. Functional suitability is found to be the most recognised benefit while security, safety and reliability are the most addressed challenges when utilising service-oriented architectures in the automotive domain.