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Technologies for authorizing a passenger of an autonomous vehicle include determining a passenger authorization policy based on a request for a taxi service and determining whether a passenger is authorized for the taxi service based on the passenger authorization policy. The passenger authorization policy may include a set of rules for authorizing a passenger based on the request for the taxi service and/or a global authorization policy. For example, the passenger may be authorized based on the identity of the passenger, the number of passengers, the age of the passenger, an authentication token, and/or other methodologies. The passenger authorization policy may be generated by the autonomous vehicle in response to the request for a taxi service or received from a passenger authorization management server as part of the request for the taxi service.