The majority (83 percent) of consumers expressed low or no interest in giving up control behind the wheel, based on the survey of 1,100 U.S. vehicle owners.
Almost a quarter (24 percent) of parents of children under 19 years old prefer the benefits of autonomous vehicles, as did 15 percent of non-parents.
Esurance also analyzed 397,000 English-language posts on Twitter and found that 17 percent of the conversations on driverless technology related to topics surrounding fears.
By age, consumers 18 to 34 were three times more likely to embrace the benefits of being driven in a self-driving car than adults 55 and over. One in three drivers said some form of autonomous vehicle technology should be developed to combat distracted driving.