Support Workers in South Kesteven/Lincolnshire?

Hi my name is Sian and I was diagnosed with ASD as a child in the late 90s / early 2000s.
I was recently granted PIP by a Tribunal and I was wondering what options there are for support workers in my area (and how much it could be)? I consider myself to be high functioning but I have trouble going out most days and when I'm indoors I often need prompting to wash and change clothes.
I live in Market Deeping so I'm right on the border with Peterborough City Council but since I'm outside of their catchment area Disability Peterborough cannot offer me assistance. I will admit to having no idea where to start so I'd appreciate help getting on the right track. I want to do better in my daily life so I can be a better parent to my child.