The mobility of people with disabilities is increased and safety is enhanced when modern technology like self-navigation, obstacle avoidance sensors, or automatic brakes is incorporated into smart wheelchairs. Yet, despite such a raw deal, we continue to encounter accessibility problems with the Irish public transport system resulting from a lack of facilities, variable performance, and social attitudes. This mixed-methods study aims to provide evidence, from the identification of persistent environmental and design barriers present on buses, trams, and trains to the development of a broader sensor-audio alert system, and to determine whether this will improve safety for getting on board smart wheelchair technology. The views of wheelchair users, carers, clinicians, and commuters were gathered through a cross-sectional survey (n = 56) that combined open-ended questions with Likert-scale measurements. Quantitative analysis revealed that 50% of respondents were uncertain about boarding without assistance (mean score = 2.41%), and the most frequent obstacles were platform gaps (44.6%), high ramp slopes (60.7%), and railing or door interference (53.6%). Sensor-based systems may increase safety, according to 69.6% of interviewees; they preferred spoken alerts (48.2%), auditory tones (46.4%), and visible signs (60.7%). The thematic study revealed six recurrent needs: automation and hazard identification, experienced people support, improved stop-ramp alignment, routine maintenance, public awareness, and inclusive design. The suggested prototype, a modular ultrasonic/infrared sensor with configurable visual, audio, and vibration alerts, was well received for its potential to increase confidence and decrease incidents, even though participants emphasised the importance of affordability, dependability in bad weather, and customisable alert settings to avoid false alarms or stigma. The results show that although smart wheelchairs promote safety, they cannot completely eradicate accessibility inequalities without further advancements in operational procedures, public perceptions, and transportation systems. Policy recommendations, operational instructions for transit providers, and design advice for wheelchair manufacturers are provided in this study to assist the safe, respectful, and inclusive mobility of wheelchair users in Ireland's public transit systems.