An autonomous vehicle receives geographic location data defined via a mobile computing device operated by a user. The geographic location data is indicative of a device position of the mobile computing device. The autonomous vehicle also receives image data generated by the mobile computing device. The image data is indicative of a surrounding position nearby the device position. The surrounding position is selected from an image captured by a camera of the mobile computing device. A requested vehicle position (e.g., a pick-up or drop-off location) is set for a trip of the user in the autonomous vehicle based on the geographic location data and the image data. A route from a current vehicle position of the autonomous vehicle to the requested vehicle position for the trip of the user in the autonomous vehicle is generated. Moreover, the autonomous vehicle can follow the route to the requested vehicle position.