My parent's live on SS. Any assisted living options for them?

My Dad has dementia but still drives my Mom is legally blind. I don't think they are going to be able to live independently much longer. My dad is a veteran if that means more benefits may be available. Because they live on Social Security I don't know if they can afford assisted living but I hope that something like that is available to them in the future. I am just starting to explore their options.