Perception supporting hardware features for a wheelchair accessible autonomous vehicle

A system comprising:

• a storage configured to store instructions;
• a processor configured to execute the instructions and cause the processor to:
• identify one or more reference features on at least one surface of an autonomous vehicle (AV);
• automatically deploy a ramp to facilitate ingress of a wheelchair, wherein the ramp comprises visual markers;
• determine a position of the wheelchair based on a position of the visual markers;
• engage a wheelchair restraint system during ingress of the wheelchair;
• and
• track the ingress of the wheelchair based on the one or more reference features.

A non-transitory computer readable medium comprising instructions, the instructions, when executed by a computing system, cause the computing system to:

• identify one or more reference features on at least one surface of an autonomous vehicle (AV);
• automatically deploy a ramp to facilitate ingress of a wheelchair, wherein the ramp comprises visual markers;
• determine a position of the wheelchair based on a position of the visual markers;
• engage a wheelchair restraint system during ingress of the wheelchair;
• and
• track the ingress of the wheelchair based on the one or more reference features.