A road feature point extraction method for an autonomous driving system, wherein the method comprises: acquiring high-precision map information for a current position of a vehicle, wherein the map information comprises road attributes of the current road and road attributes of the next road, wherein the current road and the next road represent respectively the current road section and the next road section from the map information; comparing the road attributes of the current road with the road attributes of the next road to determine a road type of the next road, wherein the road attributes of the current road and the road attributes of the next road comprise respective corresponding exchange area attribute, lane line attribute and/or tunnel attribute, wherein the exchange area attribute is information indicating whether there is a change in the number of lanes on the road, the lane line attribute is information indicating the number of lane lines of the road, and the tunnel attribute is information indicating whether there is a tunnel in the road, and wherein the road type indicates that the road is any of an acceleration lane, a deceleration lane, a main road widening lane, a main road narrowing lane, a main road bifurcation lane, a ramp bifurcation lane, a ramp widening lane, a ramp narrowing lane, a ramp merging lane, a ramp joining lane and a tunnel; and extracting road feature points representing a road scene on the next road by combining the road type of the next road and the map information corresponding to the next road, and outputting a name of the extracted road feature points and relative distance information between the road feature points and the vehicle, wherein the road feature points include a lane start point and a lane end poin or a tunnel start point and a tunnel end point of the next road. acquiring high-precision map information for a current position of a vehicle, wherein the map information comprises road attributes of the current road and road attributes of the next road, wherein the current road and the next road represent respectively the current road section and the next road section from the map information; comparing the road attributes of the current road with the road attributes of the next road to determine a road type of the next road, wherein the road attributes of the current road and the road attributes of the next road comprise respective corresponding exchange area attribute, lane line attribute and/or tunnel attribute, wherein the exchange area attribute is information indicating whether there is a change in the number of lanes on the road, the lane line attribute is information indicating the number of lane lines of the road, and the tunnel attribute is information indicating whether there is a tunnel in the road, and wherein the road type indicates that the road is any of an acceleration lane, a deceleration lane, a main road widening lane, a main road narrowing lane, a main road bifurcation lane, a ramp bifurcation lane, a ramp widening lane, a ramp narrowing lane, a ramp merging lane, a ramp joining lane and a tunnel; and extracting road feature points representing a road scene on the next road by combining the road type of the next road and the map information corresponding to the next road, and outputting a name of the extracted road feature points and relative distance information between the road feature points and the vehicle, wherein the road feature points include a lane start point and a lane end poin or a tunnel start point and a tunnel end point of the next road. <EOS>