The automotive industry is undergoing a transformation with the integration of software-based systems in vehicles, leading to the need for robust access control mechanisms to protect vehicle sensor data. The proposed XACML4M framework extends the eXtensible Access Control Markup Language (XACML) to meet the specific requirements of connected vehicles, including signal access, time-based access, location-based access, and frequency-based access. The framework introduces new components such as Vehicle Data Environment, Time Extensions, GeoLocation Provider, Polling Frequency Provider, and Access Log Service. A prototype implementation on a Raspberry Pi 4 demonstrates the framework's functionality, validating its ability to fulfill the identified access control requirements for connected vehicles.