The increase of size, capabilities, and speed of FPGAs enables the shared usage of reconfigurable resources by multiple appli-cations and even operating systems. While research on FPGA virtualization in HPC-datacenters and cloud is already well advanced, it is a rather new concept for embedded systems. The necessity for FPGA virtualization of embedded systems results from the trend to integrate multiple environments into the same hardware platform. As multiple guest operating sys-tems with different requirements, e.g., regarding real-time, security, safety, or reliability share the same resources, the focus of research lies on isolation under the constraint of hav-ing minimal impact on the overall system. Drivers for this de-velopment are, e.g., computation intensive AI-based applica-tions in the automotive or medical field, embedded 5G edge computing systems, or the consolidation of electronic control units (ECUs) on a centralized MPSoC with the goal to increase reliability by reducing complexity. This survey outlines key concepts of hypervisor-based virtualization of embedded recon-figurable systems. Hypervisor approaches are compared and classified into FPGA-based hypervisors, MPSoC-based hyper-visors and hypervisors for distributed embedded reconfigura-ble systems. Strong points and limitations are pointed out and future trends for virtualization of embedded reconfigurable systems are identified.