§ 147. Dogs accompanying persons with a disability. Subject to such rules and regulations as the commissioner may prescribe, all common and contract carriers of passengers by motor vehicle shall permit a guide dog, hearing dog or service dog as defined in § 47-b of the civil rights law accompanying a person with a disability, as defined in subdivision twenty-one of § 292 of the executive law, to accompany, to guide, or otherwise to aid such person, to ride on all vehicles operated for transportation and no charge shall be made for the transportation of such dog.