Nokia has sold its HERE Maps mapping service to Audi, BMW and Daimler, CNET reports — a move that could set up the automakers to compete with Apple and Google in the self-driving car arena. It was reported in April that Nokia was looking to sell its maps division, and the company was believed to be courting Apple, among others. As Apple Maps vans are rushing to map the streets of major metropolitan areas worldwide in an effort to catch up with Google…