The benefits of autonomous vehicles will depend where you are looking at them from. If you are a taxi, bus or lorry driver, to name but three, then autonomous vehicles are bad news. It is likely that thousands of drivers will be looking for new jobs.
The fact the cost of the driver is removed from the total cost of the taxi, bus etc means these services will be a lot cheaper. We are talking about BEVs when discussing this topic and battery driven vehicles are much cheaper to maintain and run.
So all in all the benefits are for the end user with the cost of services that rely on a driver being far cheaper and probably/hopefully more reliable.
With regard to autonomous cars for Joe public, cost and safety will be the main benefits. Safety as they will be far safer, in the long run, making insurance way cheaper than it is now.
As for the disabled there are a few benefits on top of those mentioned above. Many disabled can’t have a car as they can’t drive. This will change as Autonomous vehicles will allow them to get about safely and enable freedom for those effected. A long journey will be as simple as for an abled body car owner