Innovative products are interacting with the users based on smart sensors and algorithms. Logistics as one example is changing when automated guided vehicles are integrated in the process, supporting or even replacing workers. The way these products are interacting with humans and how they react to certain situations, will determine usability and user experience and therefore the success of use. Developing such products is based on innovative concepts that need to be evaluated and refined at early project stages. Using virtual-reality based user scenarios is one adequate option to do so. This paper describes technical as well as study-based approaches on how potential concepts are realized as virtual prototypes and evaluated by real users. ...