This paper proposes a driving assistance method for personal mobility. Personal mobility have recently become popular. However, it make it difficult to operate the mobility depending on their skills and the surrounding environment. Proposed method use the user’s intentions for assistance by estimating objects and detecting positions that can be the goal. Driving assistance consists of shared control between the user and the autonomous driving algorithm. By estimating the goal, the user and the autonomous driving algorithm can share their intentions regarding the move. Then, the autonomous driving algorithm can reduce difference between it’s speed output from the user’s intended one. It is also expected to evoke the sense of agency (SoA). The improvement of SoA is an important indicator in shared control systems because it encourages users to reduce their dependence on machines and to move independently. Finally, we conducted experiments using the personal mobility. We have confirmed that the system is effective in improving the SoA and reducing the number of steering corrections when estimating the user’s goal.