The CNG/gasoline bi-fuel vehicle using CNG as the primary fuel and gasoline as a secondary has good economy and emission performance，but the traditional bi-fuel engine uses master/slave dual ECU system cannot realize it. For improving the performance，the research with multi-point sequential injection based on single ECU which is designed for OEM is made. The CNG special control strategies are designed such as Lambda PI control logic of Non-symmetric oscillation，and also the experimental investigation for this bi-fuel engine and the emission test of vehicle are carried out. According to the experiment results，the performance of engine with single ECU is better than the engine with master/slave dual ECU，and the value of emission is less than euro IV emission levels when we use CNG fuel.