A bus communication system capable of determining an order of priorities based on IDs of transmitting nodes is provided. A communication unit writes its own node ID as a transmitting node ID into an arbitration field of a message packet that is to be transmitted from the communication unit to a bus, writes a node ID of a destination node into an auxiliary field defined at a predetermined location in the message packet, and transmits the message packet to the bus. A control unit rewrites the message packet transmitted from the communication unit by replacing the node ID written in the arbitration field with the node ID written in the auxiliary field, and transmits the rewritten message packet to the bus. Another communication unit, or the destination node, receives the message packet existing on the bus based on a match between its own node ID and the node ID indicated in the arbitration field rewritten by the control unit.

 
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