By Natalia Drozdiak 

FRANKFURT--A reshuffling of top management at Volkswagen AG and BMW AG signal that the long-awaited changing of the guard in the German car industry is getting underway.

BMW AG, the world's leading premium car maker, said Tuesday that Chief Executive Norbert Reithofer would step down in May, a year before his contract expires.

Meanwhile, Volkswagen CEO Martin Winterkorn is ceding control of the company's biggest business, the namesake VW brand, a move that looks like a first step in choosing a successor to take the helm at Europe's biggest automotive group in 2016.

Mr. Reithofer will be succeeded by Harald Krüger, BMW's 49-year-old production chief, who will become the youngest CEO of any major car maker. BMW's controlling Quandt family said the move signaled a "generational change" that would help BMW meet the challenges posed by sweeping technology and consumer changes.

Separately, Volkswagen announced that Herbert Diess, a 56-year-old senior BMW executive, will become CEO of the VW brand in October and join Volkswagen's executive management board.

Mr. Winterkorn is currently in charge of both the Volkswagen group and the VW brand, a balancing act that has become increasingly difficult to manage.

From January to November, VW brand sales grew 2% to 5.59 million vehicles, driven largely a 12% increase in China. But sales in the U.S., Russia and Brazil declined and monthly data show a drop in China sales from November a year ago, which analysts said marked the first time VW's sales in China declined.

Recharging the VW brand will now be up to Mr. Diess. If he succeeds, he is likely to become a strong candidate to take the reins from Mr. Winterkorn as CEO when his term expires in 2016.

Mr. Diess is the second senior executive that Volkswagen has poached from one of its main rivals. Earlier this year the company hired former Daimler executive Andreas Renschler to run its truck business beginning next year.

Mr. Diess was disappointed at being passed over for BMW's top job, according to people familiar with the situation. One person said he was never a candidate because of his age.

"Krüger was always the crown prince," this person said.

The appointments give Volkswagen intimate knowledge of the plans of two of its main rivals at a time when VW's Audi, Daimler's Mercedes-Benz, and BMW are running a tight race for leadership of the premium car market.

By the end of November, Audi sold 1.59 million cars world-wide, surpassing full-year sales of 1.57 million in 2013. "We've never been so close to being number one," Luca de Meo, Audi's sales chief, told reporters in Berlin.

Mr. Reithofer has had a successful run since taking charge of BMW in 2006, pulling BMW past Mercedes, boosting profitability, expanding into China and launching the company's first battery-powered vehicles.

BMW's lead on its rivals has narrowed, but the decision to replace him a year early may have more to do with securing his position as head of the supervisory board than a belief that he has lost his mojo.

Under a new German law, women must fill at least 30% of the seats on the non-executive supervisory boards of German companies beginning in 2016. For BMW that means two supervisory board seats need to be filled by women, which would have prevented Mr. Reithofer from becoming chairman of the supervisory board as planned in 2016.

"Reithofer was always seen for this post," said a person familiar with the situation. "One reason this decision was made was to ensure that Reithofer becomes chairman."

There is still no clear sense when Daimler CEO Dieter Zetsche plans to retire. Mr. Zetsche overcame a rough patch last year and had his contract extended three years to the end of 2016. It isn't clear if he wants to stay on for another term or make way for a successor.

The person most often mentioned as a successor to Mr. Zetsche is Wolfgang Bernhard, who now runs Daimler's truck business but has a wide range of experience with Daimler's car businesses, Mercedes and AMG. He also ran the VW brand for a short time before leaving in 2006 to return to Daimler.

Neetha Mahadevan and Ilka Kopplin contributed to this article.

Write to Natalia Drozdiak at natalia.drozdiak@wsj.com

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