As vehicles become more and more connected with their surroundings and utilize an increasing number of services, they also become more exposed to threats as the attack surface increases. With increasing attack surfaces and challenges faced when eliminating vulnerabilities, vehicles need to be designed to work even under malicious activities, i.e., under attacks. In this paper, we present a resilience framework that integrates analysis of safety and cybersecurity mechanisms. We also integrate resilience for safety and cybersecurity into the faulterror-failure chain. The framework is useful for analysing the propagation of faults and attacks in between the three abstraction layers of hardware, software, and system where the mechanisms are implemented on. This facilitates identification of adequate resilience mechanisms at different system layers as well as deriving suitable test cases for verification and validation of system resilience using fault-and attack injection.