CAN BUS is Controller Area Network. It is wiring, like in your house or work where control modules talk to eachother.
When changing a component like a battery pack, that has its own controller built in, the system may need a CAN Bridge for the new part to "talk" to the rest of the cars controllers. Basically a "translator" between the old and new.
B or D is driver preference, D mode drives more like a "normal" car, B mode has more regen braking, which is more like a heavy truck with a "jake brake", it slows the car more aggressively when you take your foot off the accelerator pedal.