A monitoring system for monitoring a vehicle gate of a property during arrival or departure of an autonomous vehicle comprising: one or more processors; and one or more computer storage media storing instructions that are operable, when executed by the one or more processors, to cause the one or more processors to perform operations comprising: obtaining (510, 610), by the monitoring system, sensor data that is generated by one or more first monitoring system components, wherein the first monitoring system components comprise sensors installed in the vehicle; determining (520, 620), by the monitoring system and based on the sensor data, a current human occupancy of the vehicle; determining, by the monitoring system and based on the current human occupancy of the vehicle, whether the vehicle gate is to be monitored; and in response to determining, by the monitoring system and based on the current human occupancy of the vehicle, that the vehicle is not occupied by a human occupant, using one or more second monitoring system components to monitor the vehicle gate, wherein the one or more second monitoring system components comprise a camera, and wherein using one or more second monitoring system components to monitor the vehicle gate comprises generating, by the camera, camera data representing one or more images of the vehicle gate, determining, by the camera, that the camera data depicts one or more objects within a vicinity of the vehicle gate, and transmitting, by the camera and to the monitoring system, data indicating that an object has been detected within a vicinity of the vehicle gate. one or more processors; and one or more computer storage media storing instructions that are operable, when executed by the one or more processors, to cause the one or more processors to perform operations comprising: obtaining (510, 610), by the monitoring system, sensor data that is generated by one or more first monitoring system components, wherein the first monitoring system components comprise sensors installed in the vehicle; determining (520, 620), by the monitoring system and based on the sensor data, a current human occupancy of the vehicle; determining, by the monitoring system and based on the current human occupancy of the vehicle, whether the vehicle gate is to be monitored; and in response to determining, by the monitoring system and based on the current human occupancy of the vehicle, that the vehicle is not occupied by a human occupant, using one or more second monitoring system components to monitor the vehicle gate, wherein the one or more second monitoring system components comprise a camera, and wherein using one or more second monitoring system components to monitor the vehicle gate comprises generating, by the camera, camera data representing one or more images of the vehicle gate, determining, by the camera, that the camera data depicts one or more objects within a vicinity of the vehicle gate, and transmitting, by the camera and to the monitoring system, data indicating that an object has been detected within a vicinity of the vehicle gate. obtaining (510, 610), by the monitoring system, sensor data that is generated by one or more first monitoring system components, wherein the first monitoring system components comprise sensors installed in the vehicle; determining (520, 620), by the monitoring system and based on the sensor data, a current human occupancy of the vehicle; determining, by the monitoring system and based on the current human occupancy of the vehicle, whether the vehicle gate is to be monitored; and in response to determining, by the monitoring system and based on the current human occupancy of the vehicle, that the vehicle is not occupied by a human occupant, using one or more second monitoring system components to monitor the vehicle gate, wherein the one or more second monitoring system components comprise a camera, and wherein using one or more second monitoring system components to monitor the vehicle gate comprises generating, by the camera, camera data representing one or more images of the vehicle gate, determining, by the camera, that the camera data depicts one or more objects within a vicinity of the vehicle gate, and transmitting, by the camera and to the monitoring system, data indicating that an object has been detected within a vicinity of the vehicle gate. generating, by the camera, camera data representing one or more images of the vehicle gate, determining, by the camera, that the camera data depicts one or more objects within a vicinity of the vehicle gate, and transmitting, by the camera and to the monitoring system, data indicating that an object has been detected within a vicinity of the vehicle gate.