This paper is mainly about automobile door pedal used in the production. It carried out the research of CAN bus (controller area network-bus）, analyzed its working principle, hierarchical structure and protocol. Combined with the analysis of the door pedal operating principle, this paper designed a distributed CAN bus control system. The system consists of a master CPU and four distributed control units, adopting CAN transceiver PCA82C250 to connect with each other. The method of software implementation of the CAN communication system was carried out, and comparatively the algorithm of the anti-pinch and anti-collision function was analyzed. Finally it verifies the running effect of the controller with LabVIEW.