M.
I think since your son has just made the transition from diapers (which he was used to for 3+ years?) to the home toilet (less than 6 months?) that you should continue to let him go at his own pace. It sounds like you are acknowledging his fear, which is good, and it's something that will likely fade over time as you gradually support him through it. In the mean time, what about a small portable plastic molded potty & letting him use it in the car? Here are a few possibilities if that idea appeals to you both:
http://www.theecstore.com/index.php?main_page=index&c...
http://www.lullabyebaby.com/juvenile_sol/travel_potty_sea...
Big transitions like going from diapers for 3 yrs to underwear and using the potty are tough for toddlers & preschoolers who get really used to routine. I think it's important that he be given time to make the transition from home toilet to public toilet, and in the mean time just make it a non-issue by providing him an alternative that he feels safe using. Years from now when you look back, this fear of public restrooms will likely just be a tiny blip on the radar. What's far more important is that he's no longer peeing/pooping in the diaper!