The invention designs a vehicle based on a platform control system and used for handicapped people and a matched wheelchair accessible vehicle. The vehicle for the handicapped people comprises a vehicle body, a manual driving device, the platform control system, an independent steering system, a motor drive system, a shaft transmission system, a centralized braking system, a wheel assembly and a battery and is characterize in that the vehicle body is mounted on the platform control system, and the platform control system can adjust the pose of the vehicle body according to the conditions of atraveling road surface; driving force from the motor drive system is transmitted to the wheel assembly through the shaft transmission system to drive the wheel assembly; the independent steering system can independently control the rotating angles of three wheels to allow the wheels to perform in-situ steering. The matched wheelchair accessible vehicle can achieve bidirectional driving, and accessible driving of handicapped drivers is achieved while the use requirements of normal people are satisfied. The vehicle for the handicapped people and the matched wheelchair accessible vehicle have theadvantages that the handicapped people's traveling problem of the last one kilometer from home to a parking place is solved, the vehicle for the handicapped people and the matched wheelchair accessible vehicle are compact in structure and flexible in driving, and the comfortableness of the drivers and vehicle controllability are increased effectively.