ok, its possible, but if the function has the decorator @api.one not works.

my error:

    @api.one
    @api.onchange('field_id')
     def onchange_field_id(self):
         relation_ids = [x.id for x in self.field_id.relation_ids]
         return {'domain':{'relation_id': [('id', 'in', relation_ids)]}}

but without @api.one works perfectly

    @api.onchange('field_id')
     def onchange_field_id(self):
         relation_ids = [x.id for x in self.field_id.relation_ids]
         return {'domain':{'relation_id': [('id', 'in', relation_ids)]}}