A sensing system for a vehicle includes at least one radar sensor disposed at the vehicle and having a field of sensing exterior of the vehicle. The at least one radar sensor includes multiple transmitting antennas and multiple receiving antennas. The transmitting antennas transmit signals and the receiving antennas receive the signals reflected off objects. Multiple scans of radar data sensed by the at least one radar sensor are received at a control, and a vehicle motion estimation is received at the control. The control, responsive to received scans of sensed radar data, detects the presence of one or more objects exterior the vehicle and within the field of sensing of the at least one radar sensor. The control, responsive to the received scans of sensed radar data and the received vehicle motion estimation, matches objects detected in the scans and determines angles toward the detected objects.