Vehicle-to-vehicle (V2V) communication applications face significant challenges to security and privacy since all types of possible breaches are common in connected and autonomous vehicles (CAVs) networks. As an inheritance from conventional wireless services, potential eavesdropping is one of the main threats to V2V communications. In our work, the anti-eavesdropping scheme in CAVs networks is developed through the use of cognitive risk control (CRC)-based vehicular joint radar-communication (JRC) system. In particular, the supplement of off-board measurements acquired using V2V links to the perceptual information has presented the potential to enhance the traffic target positioning precision. Then, transmission power control is performed utilizing reinforcement learning, the result of which is determined by a task switcher. Based on the threat evaluation, a multiple armed bandit problem is designed to implement the secret key switching procedure when it is needed. Through constant perception-execution loops (PELs), the security and confidentiality is improved for the authorized vehicles in their behavioral interactions with the illegal eavesdropper. Numerical experiments have presented that the developed approach has anticipated performance in terms of some risk assessment indicators.