The high-level protocols of the CAN bus mainly include the following:

1. CANopen:
It is a communication protocol based on CAN bus, which is widely used in industrial automation, robot control, power system and other fields.

2. DeviceNet:
It is an industrial network protocol based on CAN bus, mainly used for communication and control between industrial automation equipment.

3. J1939:
It is a vehicle communication protocol based on CAN bus, mainly used for communication and control of commercial vehicles and heavy machinery and equipment.

4. NMEA2000:
It is a communication protocol for ships and marine equipment based on CAN bus, mainly used for data exchange and control between ships and marine equipment.

5. CANaerospace:
It is a communication protocol for avionics equipment based on CAN bus, mainly used for data exchange and control between aircraft and avionics equipment.

These high-level protocols are developed and expanded on the basis of CAN bus, and appropriate protocols can be selected according to different application scenarios.