Controller Area Network (CAN) is a bus standard commonly used in the automotive industry. A large number of researches have been carried out on the identity authentication and intrusion detection technology of the in-vehicle network for attacks. This paper presents a method to extract the voltage of CAN bus terminal to obtain the equipment fingerprint. The method identifies different ECUs by measuring the voltage difference on the vehicle network, selects features only from the time domain and detects based on a single frame. This paper mainly focuses on the influence of temperature on the fingerprint of CAN bus terminal. By using a high and low temperature test chamber to simulate different temperature environments during vehicle operation, a large number of CAN frames have been collected for fingerprint extraction. By studying the relationship between temperature and CAN bus terminal fingerprint, the influence of temperature on fingerprint has been compensated. After temperature linear compensation, the recognition rate of voltage-based CAN bus terminal fingerprint extraction increases from 71.2% to 87.6% at 0–80 °C.