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This paper describes a development method for object-oriented automotive control software embedded with automatically generated programs from controller models. We have designed control software with object-oriented application frameworks. An application framework consists of objects. Each object is composed of the attribute of a control system and a function to calculate the status. The function is a C function, which is automatically generated from the block diagram of a controller model designed with a computer aided engineering tool. An object is implemented with a wrapper and the generated C function. The wrapper defines the interface and attribute of the object. The wrapper is automatically generated referring to the generated C function. We have applied this method to develop some parts of automotive engine control software and have found that 95% of the source code could be generated automatically from controller models.