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Over the past decade, a dramatic increase of functionality, quantity, size, and complexity of software-intensive embedded systems in the automotive industry can be observed. In particular, the growing complexity drives current requirements engineering practices to the limits. In close cooperation between partners from industry and academia, the recently completed REMsES (Requirements Engineering and Management for software-intensive Embedded Systems) project has developed a guideline to support requirements engineering processes in the automotive industry. The guideline enables the requirements engineers to cope with the challenges that arise due to quantity, size and complexity of software-intensive systems. This article presents the major results of the project, namely, the fundamental principles of the approach, the guideline itself, the tool support, and the major findings obtained during the evaluation of the approach.