The work aims to explore the interaction paradigm of remote-controlled unmanned special vehicles (RCUSVs) under virtual reality, and finally improve the working efficiency and user experience of RCUSVs. The interaction process of RCUSVs in a virtual reality scene and a real scene was modeled by eGOMS model, and a stimulated test was organized. The results of user performance and user evaluation were generally consistent with prediction, showing that virtual reality interaction was more advantageous. However, the stimulated test results showed that whether it was a virtual reality or real scene, the interaction operation time predicted by the eGOMS model was greater than the actual interaction operation time of the user. The results of NASA-TLX questionnaires indicated that virtual reality can effectively improve the user experience and operational efficiency of RCUSVs. The study further revealed that the calibration and insertion rules in the eGOMS model need to be updated appropriately for expert users. Virtual reality will effectively improve the operational efficiency of RCUSVs, greatly reduce operational risks, and thus promote the popularization and application of RCUSVs in firefighting, rescue and disaster relief, national defense, and other fields.