It's amazing how much code goes into all of the microcontrollers and processors in a modern car. An IEEE article from a couple years ago cited that a modern luxury car may have 100M+ lines of code controlling it, vs 5.7M for the F-35 Joint Strike Fighter aircraft (loc is not a great metric, but still...).[1] The jet plane software is no doubt subjected to more security scrutiny, but even if cars had the same code quality it seems like there would be at least a few vulnerabilities in those 100M lines.
Also, if you're curious about interacting with CAN there are a number of hobbyist transceivers out there[2], or to simply listen a logic analyzer would do the job[3].
1. http://spectrum.ieee.org/green-tech/advanced-cars/this-car-r...
2. https://www.sparkfun.com/products/10039
3. http://www.saleae.com/logic16