PIP application

My daughter has Aspergers or High Functioning autism as they call it now.  She is now 18 so can apply for PIP herself.  A previous application 2 years ago was tuned down despite an appeal. At that time she only got 6 points but they didn't understand that she finds travel confusing and gets stressed and anxious outside her comfort zone.  Comments like why doesnt she use Google maps is not very hepful : (   .What we desperately need is someone or an organisation to help us complete the form.  Unfortunately there is very little help in the Bromley area so happy to go anywhere within reason!  The Burgess Autistic trust helped before but we didn't get anywhere.  Grateful for any help / suggestions. Thank you.