In this study, in line with the paradigm shift in the design of interior spaces for future autonomous vehicles, the vehicle interior spaces were categorized according to their suitability for music appreciation and a design for an optimal soundscape design to that of a concert hall was proposed. Based on the sound field investigation conducted with 360-deg camera video and binaural audio recorded inside the vehicle, audibilized computer models were created in a virtual reality environment for comparison with conventional rectangular halls. These models' auralization audio files were subject to a psychoacoustic evaluation experiment of the soundscape. Evaluation indicators were selected based on the collected data, and through a comparative analysis of these indicators, parameters for transitioning the soundscape of a concert hall into a vehicle interior were proposed.