Model-Based Design has potential to improve product quality, robustness, and engineering efficiency. Cummins has utilized Model-Based Design for engine control development since the 1990s and automatic code generation for the majority of controller application code since 2002. However, a few challenges are still ahead. Legacy methods and tools, organizational boundaries, and integration with product development life cycle all need to be addressed to extract further value from adoption of Model-Based Design. Initiatives in embedded software organizations such as reuse also need to be aligned with the Model-Based Design framework. Also, the measures that drive behavior and indicators of success will need to adapt to support a Model-Based Design culture.