You might be interested in this old thread:

http://www.reddit.com/r/AskHistorians/comments/1tez3v/what_is_the_relationship_between_ethiopian/

The quick answer is: yes he was aware of it, and he visited Jamaica in 1966 to meet Rastafaris there.

A follow-up discussion is here: http://www.reddit.com/r/AskHistorians/comments/1vo0fl/what_did_emperor_haile_selassie_think_about_his/