There is a detailed overview concerning the support system for children with special needs at http://bvkm.de/wp-content/uploads/2016_Mein-Kind-ist-behindert-diese-Hilfen-gibt-es.pdf
You will find more information provided by the ministry of social affairs and integration: https://sozialministerium.baden-wuerttemberg.de/de/soziales/menschen-mit-behinderungen/