This paper presents a Synthetic Aperture Radar (SAR) algorithm for automotive applications to increase azimuth resolution for radar sensors. The image representation can be used as an amplitude map for autonomous maneuvers. The algorithm's emphasis lies on continuous calculation so that current images become immediately available. Thus, the algorithm is described together with a two-grid approach for calculation and storage. In addition, measurements are presented to clarify the SAR procedure. An outlook on a real-time calculation for continuous driving concludes the work.