Assistance dog

Hi I'm just wondering if anyone can help me on regard to renewing my PIP. In regards to going out my Panic and anxiety is through the roof, originally on my form my Daughter was put down as I only ever left the House with her. She has since obviously gotten older, a job, a Boyfriend and obviously likes time to do her own thing or isn't available. I've since had an Assistant Dog that due to the waiting list we trained with a Dog Trainer. He understands me to a Tee, knows whwn to comfort me, distract me etc, he is wonderful and my life wouldn't be the same without him, I genuinely wouldn't cope. He works wonders for my fears, anxieties, having to go anywhere etc, so basically when my Daughter isn't available I don't go anywhere without my Dog, I literally can't, I just freeze with fear. He comes the Doctors, Hospital appts, Restaurant, anywhere. Will PIP accept I STILL don't go out alone or unassisted with it now being with an Animal /Assistance Dog as opposed to a Human?