This paper establishes novel methods for vehicle localization and mapping using a 1D linear automotive radar array in conjuncture with pre-existing lidar maps, and tests if the generated radar map can be made to be 3 dimensional. The basic design of this study was to implement a SLAM (Simultaneous Localization And Mapping) system that co-registers radar data to radar data, and/or register radar data to lidar data. After the execution of experiments, it was established that it is possible to localize the car by relating observed radar data to premade lidar maps, and to continually add to a cumulative map made with the radar data that can further aid the localization process. Furthermore, the radar map created using the 1D linear automotive array can be extended to 3D with proposed processing chain, though more experiments to establish the full potential of this capability are recommended. @en