Autonomous driving is on the verge of revolutionizing the transportation system and significantly improving the well-being of people. An autonomous vehicle relies on multiple sensors and AI algorithms to facilitate sensing and perception for navigating the world. As the automotive industry primarily focuses on increasing autonomy levels and enhancing perception performance in mainly benign environments, the security and safety of perception technologies against physical attacks have yet to be thoroughly investigated. Specifically, adversaries creating physical-world perceptual illusions may pose a significant threat to the sensing and learning systems of autonomous vehicles, potentially undermining trust in these systems. This research project aims to deepen our understanding of the security and safety risks under physical attacks. The project endeavors to bolster sensing and learning resilience in autonomous driving against malicious perceptual illusion attacks. The success of the project will significantly advance the security and safety of autonomous driving in the face of emerging physical-world threats, paving the way for the safe deployment of autonomous vehicles in next-generation transportation systems.