An imaging section images a passenger in a moving body. A boarding state detection section detects a boarding state of the passenger on the basis of a captured image. An allowable acceleration setting section sets, for each passenger, individual allowable acceleration on the basis of the boarding state of the passenger, for example, the lateral spacing between the feet of the passenger, the arrangement angle of the feet with respect to the moving direction of the moving body, and the like. Further, integration is performed on the individual allowable acceleration determined for the respective passengers in the moving body, and the acceleration that is allowable for the moving body is set The according to the boarding state of each passenger. Thus, the moving body is prevented from moving at acceleration at which the passengers may be endangered.