I like all of samwreck's suggestions. As tnjrp points out, the scale of Defiance makes vehicles require a bit of abstraction - I understand that many skirmish games do not abstract exposed passengers, but in my opinion this leads to weird "gamey" effects.
That having been said, a very easy way to point cost your mobile terrain idea would be to simply multipy the frame (not weapon) costs of any passengers by the following:
light terrain 2x
medium 4x
heavy 8x
This is about right, assuming that the vehicle will be moving faster than the infantry could have, but not more than twice as fast. You can then simply allow the passengers to move and fire as if the vehicle were the terrain indicated.
Note that you would still need to purchase a bare bones vehicle to be the terrain, i.e. AR/DR/MOV.
Cheers,
Demian