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In this paper, a rotman lens of multi-beam feed that can be applied to a car collision avoidance radar is designed using nonradiative dielectric (NRD) guide appropriate to the millimeter wave frequency. For the optimum condition, NRD guide at the transmission lines of input and output ports is designed to obtain low loss, small coupling between the transmission lines, and dominant mode operation. The rotman lens is also optimized so as to minimize sidelobe of array factor. To prevent beam pattern from being distorted, multiple-reflection from sidewall has been eliminated by corrugated sidewall.