The present invention provides a controller regional network bus safety communication method, device and system which can effectively withstand attackers' eavesdropping, injection and attack replay. Agateway ECU (Electronic Control Unit) generates a random number and sends the random number to at least one CAN (Controller Area Network) bus ECU. A first CAN bus ECU obtains the random number sent by the gateway ECU and generates a first information authentication code based on secret keys of a first CAN identifier, the random number sent by the gateway ECU, a counting value of the first CAN identifier and data of a first CAN message. The first CAN bus ECU performs encryption operation based on the secret keys of the first CAN identifier and a second CAN message to obtain a first encryptionoperation result and perform equal length encryption operation for the first encryption operation result, the first information authentication code, the counting value of the first CAN identifier andthe data of the first CAN message so as to obtain the first CAN message with encryption authentication and send the first CAN message with encryption authentication.