Medical assessment PIP, welfare rights person?

I have to go for my assessment with ATOS. They will not do a home assessment. I have no one I can take with me. I suffer from arthritis, angina and autoimmune diseases which cause confusion, lack of concentration and some lack of comprehension and fatigue. I am in a lot of pain. I am very bad at travelling because it causes my symptoms to worsen very quickly. A friend said she had a welfare rights person from social services to go with her but social services here say they don't know anything about it. Has anyone got any suggestions which might help or know anything about welfare rights? I have been on full DLA for about the last 13 years and had incapacity benefit and ESA without ever having an assessment so I am a bit lost.

Thank you. Unfortunately I don't think that any of the charities for my illnessses could do this. I have some rare conditions such as antiphospholipid syndrome, lupus and cardiac syndrome x. They don't have local groups. So I will try CAB to see of they can help and I will tape the asessment so I know what was said as my memory is faulty too. But I may be able to get my GP to write to Atos explaining my problems, but I will probably need to explain them to my GP first as I'm fairly new to the area! It's a real problem which I really resent having to go through as I was given DLA for life. But I guess you've heard that a million times.