To solve the problem of interfaces and communications between different members in an on-board simulation system, an on-board interactive simulation system based on CAN bus is established. Several simulation members are built according to the composition of real system. Interfaces of drivers included in simulation members are packaged into a uniform interface, thus the on-board simulation system is established with the foundation of CAN bus simulation framework. Uniform communication interface of each simulation member is designed and realized, the framework of simulation flow is established, and foundation of intercommunion and operation between simulation members is laid. Experiment results prove that the framework can work stably with great efficiency and high flexibility, and expected effect is achieved.