###### Abstract
However, for current autonomous driving technology, prior data are essential to actively move to the destination based on the current position through the pre-map information [9]. Therefore, the current indoor autonomous driving technology cannot utilize autonomous driving in a mapless environment because it is difficult to create a route for driving to the destination through position estimation without prior map information [10]. Unlike autonomous robots, wheelchairs are not limited to the space of use, but move various indoors/outdoors with the user's means of transportation. Thus, there is a limit to configuring all driving environments as a map DB. Therefore, the current autonomous driving system can be used in some environments where a map exists, but it is difficult to use it in most outdoor environments and mapless environments. Therefore, current autonomous driving can support indoor movement with a map, which is the main use space for wheelchairs, but it is difficult to assist in long-distance travel or moving to other activity areas [11]. Most wheelchairs move outdoors through a vehicle that can be used for wheelchair boarding and enter and exit the building by getting in and out of the main active space, such as the entrance of the building or the entrance of the housing complex, but it is difficult to hold a map in a pre-space with high volatility and a lack of feature points, such as the entrance of a hospital or the entrance of a housing complex [12; 13]. Therefore, it is difficult to apply the current autonomous driving technology in the case of active driving at the entrance of a building without prior map information. Therefore, the current self-driving wheelchair is used as an autonomous driving device in a specific building, which is difficult to support when moving to various spaces. Therefore, in order to solve the above problem, this study proposes a position and direction estimation method for driving assistance technology that guides the position and direction to the destination of the wheelchair for active driving of the intelligent wheelchair at the entrance of a space where the current autonomous driving system is difficult to apply, such as mapless environments. Research and development of active driving assistance technology in mapless situations is being used in docking technologies such as AGVs and cleaning robots [14]. Laser guidance-based technology is a method in which a laser emitted from a robot receives a reflected laser through a reflector mounted at a specific point and estimates its position through triangulation based on the measured distance [15]. However, if there is an obstacle between the laser and the reflector, the distance cannot be measured, and the measurement accuracy is reduced due to the influence of weather such as rain and fog [16; 17]. Therefore, this is not a suitable technology for intelligent wheelchairs used outdoors and in places where environmental variables occur and coexist with people. For this reason, the technology is not suitable for use as an active driving assistance technique for wheelchairs that move with people. In the case of driving assistance systems through QR codes, they are mainly used for docking technologies because of their high accuracy in close proximity compared to other technologies [18; 19]. However, in the case of QR codes, the measurement distance varies depending on the measurement camera or H/W, but in general, if the measurement distance is relatively short compared to other technologies and is not perpendicular to the camera and QR code, the measurement error increases, and the QR code must be attached to the floor or ceiling, making it unsuitable for the intelligent wheelchair system targeted in this study [20; 21]. In the case of a driving system through ultrasonic sensors, the ultrasonic sensor at a specific point is mounted to receive the launched data, measure the distance, estimate the position through triangulation, and use it for driving assistance technology [22].