A flexible, printable antenna for automotive radar. The antenna can be printed onto a thin, flexible substrate, and thus can be bent to conform to a vehicle body surface with compound curvature. The antenna can be mounted to the interior of a body surface such as a bumper fascia, where it cannot be seen but can transmit radar signals afield. The antenna can also be mounted to and blended into the exterior of an inconspicuous body surface, or can be made transparent and mounted to the interior or exterior of a glass surface. The antenna includes an artificial impedance surface which is tailored based on the three-dimensional shape of the surface to which the antenna is mounted and the desired radar wave pattern. The antenna can be used for automotive collision avoidance applications using 22-29 GHz or 76-81 GHz radar, and has a large aperture to support high angular resolution of radar data.