An information processing apparatus includes a first acquisition unit that acquires first sensing data from a first sensor that performs sensing of an object outside a vehicle, a presentation control unit that generates presentation information based on the first sensing data and causes a presentation device present in the vehicle to present the presentation information, a second acquisition unit that acquires input data for presentation of the presentation information via an input device present in the vehicle, and a boarding control unit that controls boarding of a person on the vehicle according to the input data acquired by the second acquisition unit.