Autonomous Vehicles (AVs) integrate numerous control units, network components, and protocols to operate effectively and interact with their surroundings, such as pedestrians and other vehicles. While these technologies enhance vehicle capabilities and enrich the driving experience, they also introduce new attack surfaces, making AVs vulnerable to cyber-attacks. Such cyber-attacks can lead to severe consequences, including traffic disruption and even threats to human life. Security modelling is crucial to safeguarding AVs as it enables the simulation and analysis of an AV's security before any potential attacks. However, the existing research on AV security modelling methods for analysing security risks and evaluating the effectiveness of security measures remains limited. In this work, we introduce a novel graphical security model and metrics to assess the security of AV systems. The proposed model utilizes initial network information to build attack graphs and attack trees at different layers of network depth. From this, various metrics are automatically calculated to analyse the security and safety of the AV network. The proposed model is designed to identify potential attack paths, analyse security and safety with precise metrics, and evaluate various defence strategies. We demonstrate the effectiveness of our framework by applying it to two AV networks and distinct AV attack scenarios, showcasing its capability to enhance the security of AVs.