An autonomous vehicle can include a front seat facing rearward, and a rear seat facing forward. This provides a common foot or leg area between the seats that face each other. The vehicle includes a body that has a pair of opposing B-pillars. A support beam extends through the common leg area, between the front and rear seats, and mounts to the B-pillars. The support beam provides direct structural support to the B-pillars. A luggage compartment is coupled to the support beam and extends between the B-pillars. The luggage compartment has access openings that face forward and rearward, allowing the forward and rearward passengers to store luggage.