I think it is intentional and I think the reason isn't very hard to figure out. Handicapped has been associated with "incapable" for a long time, and this is intentionally turning that on its head to force people to (maybe!) subconsciously reconsider when they start seeing this symbol spray painted in parking lots, plastered on walls, and otherwise surrounding them in the spaces they regularly visit.

This wasn't meant to be a neutral change, or even a change to bring it from negative connotations to neutral - it's the equivalent of affirmative action for symbols.