BERLIN—Germany’s premium car makers Audi AG, BMW AG and Daimler AG, which owns Mercedes-Benz, are in talks with Amazon.com Inc. and Microsoft Corp. that could lead to the tech giants taking minority stakes in the HERE digital mapping service, a senior Daimler executive said.

The three auto makers, which make the world’s leading premium car brands, acquired the Berlin-based digital mapping service HERE from Nokia Corp. last year for €2.5 billion ($2.85 billion) as part of a bold plan to build a platform for self-driving cars...