The societal integration of autonomous vehicles (AVs) relies on public acceptance, closely related to individual emotions and perceptions. This study explores the emotional factors affecting AV acceptance in Spain through lexical tasks, virtual AV simulations, and questionnaires, surpassing traditional attitude surveys by examining subtle emotional and lexical reactions to AVs. Acceptance was measured in terms of AV knowledge, perception of autonomous driving, and safety, with emphasis on lexical-emotional analysis after simulation. Findings indicate gender differences in AV acceptance, with women showing less knowledge and comfort with AV technology. Simulation improved understanding and generated more positive responses. This study shows how lexical tasks can reveal emotional influences on AV perception and suggests a wider approach to assess technology acceptance. These findings aid in creating campaigns and experiences to enhance public AV acceptance, mindful of demographic differences. Future studies should extend this framework to various populations to investigate the emotional lexicon’s role in AV acceptance.