Abstract: Provided are methods for sensor attack simulation systems, which can include a processor performing operations comprising receiving a dataset representative of data received from a plurality of sensors at an autonomous vehicle sensor system that measure environmental conditions related to an environment of an autonomous vehicle. The system operations also perform a simulated attack on the dataset. The simulated attack includes at least one of modifying the dataset to imitate a cyberattack and modifying the dataset to imitate a cyber-physical attack in which the cyber-physical attack misrepresents the environmental condition related to the environment of the autonomous vehicle to be measured by the plurality of sensors. The system operations also provide a second dataset based on the simulated attack on the dataset for testing planned movements of the autonomous vehicle.