Marilyn Dear, 38, of Belton Gardens, Stamford, who has a four-year-old son, suffers from fibromyalgia, which causes widespread muscle pain and fatigue. She has been using a fully-insured scooter for three years.
"I was overtaken by a car on a sharp corner just up the road," said Mrs Dear, whose husband Hayden is her full time carer.
"I stopped and the driver of the car that was coming down the hill rolled his window down and and told me to use the footpath."
Mrs Dear believes the problem is getting worse and says she is coming across more intolerant drivers and abusive pedestrians.
She said: "It's not always possible to use the scooter on the pavements because some of them are so narrow.
"I think the answer is awareness and people being a bit more tolerant.
"They can't see or feel my pain and why should I give up my independence for them?"
Craters in the road are another big problem for users of mobility scooters and Mrs Dear highlighted one just outside a parking space in St Paul's Street, Stamford.
She said: "If I drove into that, the scooter would be grounded and I would find it very difficult to get out again."
Larger mobility scooters like Mrs Dear's which are capable of speeds of up to 8mph on the road have to be registered with the DVLA while smaller models intended for use on the footpath and with a maximum speed of 4mph are not required to register. Registration is free.
Insurance is not required for either class, but is recommended.