The following article presents an inclusive research and development process that aims to co-create a technological support system for cognitive accessibility in urban settings. An inclusive research and co-design methodology is proposed, carried out by a multidisciplinary group from the areas of education, sociology, engineering and design, in conjunction with an advisory group of 11 adults with intellectual disabilities, who participate as experts by experience, adopting the role of co-researchers and co-designers of supports that promote independent living. Among the results, a pictographic language co-designed with the advisory group is described and the PICTOS application is presented to support and evaluate cognitive accessibility in face-to-face or physical services. The final discussion addresses the learnings about the impact of cognitive accessibility and inclusive research in co-design processes.