In this paper, a set of phased arrays of antennas are developed for automobile anti-collision warning applications at 76GHz of millimeter wave (mmW) frequencies. This antenna set consists of two 16X8 and one 16x1 series-fed tapered antenna arrays for both long- and short-distance target detections. This antenna set has a radiation gain up to 24dBi and relative sidelobe level of smaller than-20dB in both E- and H planes by implementing a Dolph-Chebyshev distribution of excitation weightings. The return loss of power divider is lower than 25dB. The design consideration incorporating the PCB board effects is also studied to examine the radiation distortion in practical applications. Numerical simulation results are shown to validate the radiation phenomenon while measured data will be shown in the conference presentation.