The demanding tasks for automotive radar systems in multitarget scenarios require an increased target separation performance and new sensor concepts. In this contribution, a highly integrated 77 GHz time domain multiplex (TDM) MIMO radar is presented. The sensor is feasible for advanced direction of arrival (DOA) estimation in azimuth and elevation. For efficient and high-quality measurements a fractional-n phased locked loop (PLL) with integrated waveform generator, enabling chirp and frequency modulated continous waveform (FMCW) modulations, is implemented. Spatial beamforming is done with series feed array patch antennas in combination with a dielectric cylindrical lens. For the improvement of the direction of arrival (DOA) estimation performance a new lens-based MIMO radar approach is introduced. Therefore the classical MIMO approach is combined with the advantages of an optical beamforming concept. Due to the usage of these techniques the sensor performance in accuracy, ambiguity suppression, and angular resolution can be significantly increased.