The aim of the CARGO project (FP7- SME -2010-1-261894) was to create a solution which allowed individuals with reduced mobility to access small utility vehicles in a convenient, independent manner. To do so, a wheelchair was developed which could be folded to fit into the space usually occupied by a car seat, as well as a mechanism to pick up the wheelchair and the seated user and transport them to the inside of the vehicle. One of the most critical points was the study and analysis of the trajectory of the wheelchair and user's movement from outside the vehicle to inside the vehicle, and vice versa. The trajectory had to be collision free, ensure optimal displacement, and be adaptable to different platforms and users. This article presents the most salient aspects of the trajectories and collisions study.