Given the input sentence, please extract the subject and object containing a certain relation in the sentence according to the following relation types, in the format of "relation1: word1, word2; relation2: word3, word4". Relations include: product/material produced; manufacturer; distributed by; industry; position held; original broadcaster; owned by; founded by; distribution format; headquarters location; stock exchange; currency; parent organization; chief executive officer; director/manager; owner of; operator; member of; employer; chairperson; platform; subsidiary; legal form; publisher; developer; brand; business division; location of formation; creator.

German luxury car makers Audi, a unit of Volkswagen AG VLKAY 0.06 % , Mercedes-Benz parent Daimler AG DDAIY 0.85 % , and BMW AG BMW -0.49 % have agreed in principle to purchase the telecommunications group’s digital mapping service Nokia Here, according to a person familiar with the situation.

Answer: owner_of: Daimler AG, Mercedes-Benz; brand: Daimler AG, Mercedes-Benz