To provide a wheelchair fixing device wherein safety is secured by fixing a wheelchair to a vehicle when the vehicle starts to move even if a fixing operation to fix the wheelchair, carried in the vehicle, to the vehicle is not performed.

A control part 51 is provided with a dangerous state decision part 52 and an avoidance control part 53. The dangerous state decision part 52 decides that it is a dangerous state by wire drawing-out information that a wire from a limit switch 37 is drawn out, wheelchair non-fixing information indicating that the wheelchair is not fixed because the wire drawn out from an operation switch 12 is not wound, and closing information indicating a closing state of a back door from a limit switch 13 for a door. When the dangerous state decision part 52 decides that it is the dangerous state, the dangerous state decision part 52 controls the avoidance control part 53, and the avoidance control part 53 performs drive control of a motor drive circuit 58 to drive a motor 30, and performs control to wind up the wire.