This study aims to comparatively investigate two pedal structures (sliding and foldable) to improve the driving experience of autonomous vehicles. A driving simulator-based study involving 17 participants was conducted, where six factors were used to evaluated. Participants rated this system based on the safety usability, reliability, convenience and expectations. In addition, the driver’s response time was measured to investigate the difference between driver pedal usage and pedal structure. Results revealed that foldable pedals had an intuitive design, usability, and low error rate, compared to sliding pedals. This suggests that foldable pedals offer a promising design for autonomous vehicles, and they can enhance driver safety and efficiency during control transitions.