Neither ESA nor PIP consider a claimants usage of a motorised scooter, they look at your ability to walk and for ESA, you ability to self-propel a manual wheelchair.
I'm assuming your conditions have deteriorated? Whilst I can't say that you do not have to notify the DWP, they aren't really bothered if the claimant fails to report a deterioration as only the claimant loses out.
Gordon
Nothing on this board constitutes legal advice - always consult a professional about specific problems