In daily life, there are a lot of inconveniences for the vision disabled people, even thought there are few equipments for them to use. However, there has no equipment to guide the vision disabled people on the pedestrian crossing, it will cause them being a dangerous situation while through the pedestrian crossing. To design an intelligent vehicle to help vision disabled people through the pedestrian crossing safely is an important topic. This thesis presents an autonomous transportation robot in intersections to provide older and vision disabled people to through the pedestrian crossing safely. This robot is based on a commercial wheelchair which equipped with cameras, inertial measurement unit, encoder, GPS module, hearts rate sensor, etc. In this study, by using the camera settled in the top of the robot to capture the picture, it could detect the region of pedestrian crossing and find the obstacles and pedestrian on the pedestrian crossing with image processing techniques. Then using the fuzzy controller to do the obstacle avoidance or people following. This robot can make the automatic parking after through the pedestrian crossing and transmit the position of the robot and the user¡¦s heart rate to the remote monitor system.