In Japan, there is a shortage of caretakers due to the increase of aging population. As a solution for this issue, an automated wheelchair driving system is proposed for the hospitals to reduce the workload of caretakers. In this system, the communication between the wheelchair and the external environment is realized by visible light communication which has no negative influence on the human body like other wave based communication methods. An LED matrix and a camera are used to achieve this communication. The wheelchair is guided by an LED blinking pattern which is recognized by a camera installed in the wheelchair. In this paper, the communication side of the system is studied. A set of experiments were carried out to validate the proposed system and their results emphasize the effectiveness of the system.