Officers found Richardson, 47, dead from an apparent gunshot wound inside the vehicle around 3:03 p.m.
Police say residents of a home in the 4400 block of Spruce who called for a cab are not considered suspects.
Police are looking for tips in Richardson's killing. Call the TIPS Hotline at 816-474-8477 or the Homicide Unit at 816-234-5043.
Saturday's homicides put the total killings in KCMO at 41 in 2012. Read the latest homicide analysis after the jump.