In embedded control systems, the potential risks of software defects have been increasing because of software complexity which leads to, for example, timing related problems. These defects are rarely found by tests or simulations. To detect such defects, we propose a modeling method which can generate software models for model checking with a program slicing technique based on a variable dependence graph. We have applied the proposed method to one case in automotive control software and demonstrated the effectiveness of the method. Furthermore, we developed a software tool to automate model generation and achieved a 35% decrease in total verification time on model checking.