In a method for controlling at least one door of a vehicle, a movement of a mobile identification signal generator, assigned to the vehicle, relative to the vehicle is sensed as a function of time. A future position of the mobile identification signal generator is estimated at a future time based on the position, the speed of movement and the direction of movement of the mobile identification signal generator at the current time, and furthermore an unlocking condition is detected if the future position of the mobile identification signal generator is within a predetermined range. Finally, the at least one door is unlocked and/or opened based on the unlocking condition. As a result of the estimation of the position of an identification signal generator with respect to a next position measuring point, the reaction time and the susceptibility to faults of an access arrangement can be improved.