Mid-air gesture-based interaction (GBI) is an emerging method for human-vehicle interaction, yet identifying the optimal gesture types for driving remains a primary concern. This study explored the differences between static and dynamic gestures in controlling in-vehicle information system (IVIS) functions across nine typical scenarios. Using a driving simulator, 33 participants performed tasks while data on driving performance, interaction efficiency, and subjective user experience were collected. Linear mixed-effects regression models revealed that gesture type had no significant effect on driving safety indicators, such as the standard deviation of speed and lateral position. However, static gestures significantly outperformed dynamic gestures in interaction efficiency, demonstrating shorter action durations and higher effective control scores. Subjective evaluations also favored static gestures, which received significantly higher ratings for validity, satisfaction, safety, and learnability across all scenarios. Furthermore, while the performance of dynamic gestures fluctuated depending on the scenario—likely due to varying spatial congruency—static gestures maintained stable and uniform performance across different tasks. These findings support the superiority of static gestures in human-vehicle mid-air interactions. Consequently, the study suggests that designers should prioritize static gestures to improve interaction efficiency and ensure a satisfactory user experience without compromising driving safety.