This study proposes a LiDAR-sensor-based elevator recognition technique to prevent collisions caused by poor operation and the cognitive decline of wheelchair users with upper limb disabilities. Existing elevator recognition studies show high performance for elevator door recognition, but this can only be recognized at a position where the elevator can be viewed directly due to the angle of view range of the sensor. This is not appropriate for wheelchair users who are inexperienced in operation because alignment must be performed directly based on the elevator. Therefore, this study presents a LiDAR-sensor-based elevator recognition technique that can detect elevators from the side to the position and at an angle to the front in order to solve this problem. In addition, this study proposes a technique for recognizing elevator gates finished with low- and high-reflective materials in order to enable recognition in various elevator environments. In order to quantitatively verify the elevator recognition technique proposed in this study, experiments were conducted in an elevator environment consisting of low and high reflections. The results of the experiments confirmed that there was no problem in applying the wheelchair active driving technique.