Provided herein is a electronically-controlled wheelchair securement system with a winch apparatus that is adapted for pulling and steering a mobility device (e.g., wheelchair, scooter, stretcher, etc.) up and down the ramp of a rear-entry wheelchair accessible vehicle and for providing securement for the mobility device during transport. The system includes two motorized front tie-down units adapted to be positioned in the vehicle at the front of the wheelchair securement area. The front tie-down units have extendable/retractable restraints adapted to connect to the front corners of the mobility device frame. By varying the motor speed between the two front tie-down units, the mobility device can be steered up the ramp. For example, when pulling the mobility device up the ramp, the mobility device can be directed to the left by increasing the speed of the right tie-down unit, slowing the speed of the left tie-down unit, or both. Similarly, the mobility device can be directed to the right by increasing the speed of the left tie-down unit, slowing the speed of the right tie-down unit, or both. Similar adjustments can be made to the speeds of the motors when the mobility device is being directed down the ramp.
