I have camped my entire life. As a child our vacations revolved around our old popup. My husband and I became weekend campers first with our tent then moved into a popup. When we first camped with my son I admit I was very worried. How do I watch him? Prevent him from running into poison ivy? Keep him off the road? And on and on and on . . .
Actually, camping was perfect for him. Camping reduced the family distractions. We were able to focus on each other which means we could watch him easily. Little did I know that watching him also meant that we could play with him -- on his level. For some reason, I was less self conscious when I played superheros and joined him in his mental movies. So was the rest of my family. When we took a walk or hike, he went right along. He even hiked some rather treacherous trails in Hocking Hills State Park. And loved it.
We did adjust some accomodations. We carried earplugs so he could go to sleep - in case the neighboring campsite was loud. We also had a family watch system. One of us was responsible for him at all times - rotating so no one was burdened. I also have cards that explain autism. Although I only had to give them out once when a neighboring group of kids made fun of him. After the card, they watched out for him too -- even inviting him to play!
Budget wise - this is a no brainer. Camping costs per site per night. For example, Pennsylvania and OhioState Parks charge on average $25.00 per night. There is a reservation system that allows to choose your camp site. This system works well so you can choose a site that will better accomodate your child. If he has trouble with the bathroom at night; choose a site nearer to the bathroom. The parks often have free activities for the children. We recently spent one evening playing bingo and watching the stars with a naturalist. My son lay on his blanket cuddled next to me as I tried to identifity the different constellations per the naturalists instructions. What a peaceful feeling!