A passenger detection system is provided for a vehicle Which includes at least one opening to allow passengers to enter and exit the vehicle and a door positioned within the at least one opening. The door has a closed position and an open position. A first infrared sensor is located proximate to the door. The first infrared sensor has a first sensing area for detecting whether a passenger is within the first sensing area. The first sensing area is within the vehicle proximate to the door. A second infrared sensor is located proximate to the door. The second infrared sensor has a second sensing area for detecting whether a passenger is within the second sensing area. The second sensing area is within the vehicle when the door is closed and is outside of the vehicle proximate to the door when the door is open.