Urban mobility remains a persistent challenge for visually impaired individuals (VIIs) despite legal protections. This study provides a thorough investigation into the door-to-door mobility experiences of VIIs in urban environments and public transport systems in Helsingborg, Sweden. Methodologically, it employs a mixed qualitative methods, combining semi-structured interviews, walking interviews and observations, and document analysis to explore the complicated research topic. The study develops a three-dimensional analytical framework, namely the Universal Design, the participatory approach, and the technology options, to identify and analyse the urban mobility challenges faced by VIIs. According to the research results, it is evident that there is an urgent need of deeper urban planning engagement and continuous innovation for truly inclusive environments for VIIs. Recommendations based on this study include enhancing Universal Design integration, promoting collaboration, and utilizing digital tools to create inclusive urban spaces, ultimately aiming to empower VIIs for independent navigation and full societal participation. / Nej