You would need one of these two capes to start with:
http://circuitco.com/support/index.php?title=TT3201_CAN_Cape
http://circuitco.com/support/index.php?title=BeagleBone_CANBus
Then you would need to figure out how to mate the pinout of the connector on the cape with the OBDII connector. I don’t know how, but Google should be able to tell you.
You also need to check for BB Black cape compatibility. If you search this forum there should be multiple messages about cape compatibility with the Black that should give you a link to a wiki page with more detailed information. Sorry I don’t have the link handy but I’m packing up to leave work.
Kleven