Vehicle passenger identification

A vehicle system for receiving a pickup request of a passenger 205 which includes passenger location and identification information, storing a first model representative of a person, executing vehicle navigation to the passenger location 215 and identifying the passenger by comparison to a second model 220,225,230. The first model may include an image or 3D LiDAR information. The second model is generated 220 from vehicle sensors such as LiDAR, ultrasound and cameras. The passenger is identified by comparing the first model of a person with the second model and finding a match within a certain degree of confidence. When the passenger has been correctly identified, entry to the vehicle is granted 240.The vehicle may be configured to operate autonomously or semi-autonomously. The passenger location may be derived from GPS information from a mobile device.