BMW AG, Audi AG and Daimler AG said they have agreed with Nokia Corp. to buy the Finnish company's digital maps business Here.

The deal for Here has an enterprise value of 2.8 billion euros ($3.1 billion), Nokia said Monday in a statement. The three German car makers will each hold an equal stake in the business.

"The acquisition is intended to secure the long term availability of Here's products and services as an open, independent and value-creating platform for cloud-based maps and other mobility services accessible to all customers from the automotive industry and other sectors," BMW said in a statement.

The car makers said they expect the transaction to be closed in the first quarter of 2016, subject to approval of the relevant antitrust authorities.

Write to Friedrich Geiger at friedrich.geiger@wsj.com

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