As autonomous driving technologies advance, the need for human-in-the-loop systems becomes increasingly critical to ensure safety, adaptability, and public confidence. This paper presents the design and evaluation of a context-aware immersive teleoperation interface that integrates real-time simulation, virtual reality, and multimodal feedback to support remote interventions in emergency scenarios. Built on a modular ROS2 architecture, the system allows seamless transition between simulated and physical platforms, enabling safe and reproducible testing. The experimental results show a high task success rate and user satisfaction, highlighting the importance of intuitive controls, gesture recognition accuracy, and low-latency feedback. Our findings contribute to the understanding of human-robot interaction (HRI) in immersive teleoperation contexts and provide insights into the role of multisensory feedback and control modalities in building trust and situational awareness for remote operators. Ultimately, this approach is intended to support the broader acceptability of autonomous driving technologies by enhancing human supervision, control, and confidence.

The successful integration of autonomous vehicles (AVs) into society hinges on public acceptance, which is closely linked to trust. This study investigates the factors influencing initial trust and specific trust requirements for the acceptance of AVs among Spanish population. A national survey was conducted with 400 participants, selected to represent the demographic diversity of Spain. The survey assessed participants' prior experience with AVs, demographic characteristics, ethical concerns, and trust levels. The findings indicate that individuals with prior direct experience with AVs exhibit higher initial trust levels. Demographic variables such as age, gender, and education significantly influence trust requirements; notably, younger and higher-educated individuals demonstrate lower trust thresholds. Ethical concerns, including data privacy and algorithmic transparency, emerge as significant predictors of trust levels. When contextualized with international studies, these findings highlight unique cultural and regulatory influences on trust in AVs within Spain. These insights are crucial for policymakers and manufacturers aiming to enhance public trust promote the ethical development and public acceptance of AVs to facilitate the widespread adoption of AVs.