Access control for an autonomous vehicle through a door in a doorway. A magnet is attached to the autonomous vehicle and a magnetometer is located some distance from the doorway. The magnetometer outputs a magnetometer signal in response to detecting the magnet, which causes the transmitter to transmit a detection signal. A doorway device is fixed about the doorway, and includes a receiver, and a locking mechanism with a locking pin. The doorway device retracts the pin to unlock the door for a predetermined period of time in response to receipt of the detection signal, and extents the pin to lock the door after the predetermined period of time ends.