Elderly Drivers - when to call it quits?

My dad's driving started getting bad in his late 70's. He agreed to stop driving in his early 80's without much of a fight.
 
My granddad was perfect. He backed out of his garage, clipped the mailbox, pulled back in the garage.
He called my mom and told her to sell his car. "It could have been a neighbor kid" and he told her she's going to have to get his groceries."
 
I had to be the bad guy that took the keys away from our dad.
He had been battling parkinson for several years and it was getting worse. We had a small snow storm and he tried to get to the store. He buried his mini-van just trying to get out of the driveway. Instead of calling for help, he burned up the transmission and busted a half shaft trying to get it unstuck.
After I got it towed to the repair shop and finding out how much damage he'd done, I called a family meeting and informed mom and my sisters that he was done driving. Dad was not happy to say the least, but everyone else thanked me for having the courage to say enough.
 
This is one tough subject. After my Mom passed away in her mid-70's, my Dad was still sharp as a tack and capable of driving into his late 80's, more than a dozen years later. The kids knew that pulling his keys would have isolated him socially and killed him. Fortunately (if you can even use that word in this situation), his ignoring the triple digit PSA numbers and refusing to further define his situation led to his worsening health and eventual instability a month before he died. He had no desire to drive the last few months before his death, which made it easy for us, the kids. Lots of factors influence this decision for sure.
 
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