Abstract: A vehicular radar sensing system includes a radar sensor disposed with a field of sensing within an interior of a vehicle. The radar sensor includes a plurality of transmitters and a plurality of receivers and a printed circuit board (PCB) having electronic circuitry and associated software. The electronic circuitry includes a processor operable to process outputs of the receivers. The plurality of transmitters includes a plurality of transmitting antennas, and the plurality of receivers includes a plurality of receiving antennas. The plurality of transmitting antennas is established on a surface of a glass panel of the vehicle in a transmitting antenna pattern. The plurality of receiving antennas is established on the surface of the glass panel in a receiving antenna pattern. The vehicular radar sensing system, responsive to processing of outputs of the plurality of receivers, detects presence of an occupant within the cabin of the vehicle.