Examples disclosed herein relate to an analog beamforming antenna for millimeter wavelength applications. The analog beamforming antenna includes a superelement antenna array layer comprising an array of superelements, in which each superelement includes a coupling aperture oriented at a predetermined non-orthogonal angle relative to a plurality of radiating slots for radiating a transmission signal. The analog beamforming antenna also includes a power division layer configured to serve as a feed to the superelement antenna array layer, in which the power division layer comprising a plurality of phase control elements configured to apply different phase shifts to transmission signals propagating to the superelement antenna array layer. The analog beamforming antenna also includes a top layer disposed on the superelement antenna array layer. The top layer may include a superstrate or a metamaterial antenna array. Other examples disclosed herein include a radar system for use in an autonomous driving vehicle.