Vehicle-mounted CAN bus communication method, device and system

The invention discloses a vehicle-mounted CAN (Controller Area Network) bus communication method, which comprises the following steps of: acquiring a pre-stored data field encryption algorithm and an arbitration field encryption algorithm, and filling a data field encryption type with the data field encryption algorithm and filling an arbitration field encryption type with the arbitration field encryption algorithm; encrypting the data field according to the data field encryption algorithm, and encrypting the arbitration field according to the arbitration field encryption algorithm; packaging the encrypted arbitration field and data field into a message; and sending the message to a receiving end, so that the receiving end analyzes the message, decrypts the arbitration field according to the arbitration field encryption type and decrypts the data field according to the data field encryption type. The invention further discloses a vehicle-mounted CAN bus communication device and a vehicle-mounted CAN bus commu