One embodiment provides a system that facilitates optimization of passenger pick-up. During operation, the system generates, by a first mobile computing device associated with a passenger at a first location, a request for a target location at which to meet with a vehicle. The system receives the target location and a planned passenger route for the passenger to the target location, which are calculated based on a location, facing direction, and direction of movement, if any, of the vehicle, and wherein the target location is different from the first location, thereby facilitating optimization of a time duration and route the passenger takes to meet the vehicle.