In the UK (and EU?) those are 'protected characteristics' that it'd be illegal to discriminate against. I suppose you could ask 'for information purposes', but you'd have to be prepared to defend yourself, proving that it didn't affect the service received.
> and then give a bonus to the driver for picking me up.
Like that. Of course people are free to think 'this driver was an unusually nice guy to me and went above and beyond to help with my wheelchair', or whatever, but it absolutely couldn't be required of the customer. You can't have a 'parent or guide dog user' surcharge.