The rapid development of technology is also accompanied by many challenges, especially in terms of ethical decision-making and legal responsibility. Autonomous driving technology has caused widespread controversy and deep reflection. This chapter will explore in depth the ethical and legal issues faced in the development of autonomous driving technology, including ethical dilemmas, legal responsibilities, privacy security, and social impact, aiming to provide with a comprehensive perspective to think about the relationship between technological progress and human values & legal systems. At the same time, we will also discuss future direction of autonomous driving systems in terms of ethics and law by analyzing actual cases and global policies.