BERLIN—Volkswagen AG Chief Executive Matthias Müller plans to unveil a sweeping restructuring Thursday, the broadest overhaul of the company in decades and part of the car maker’s effort to get past its emissions crisis in part by moving aggressively into electric vehicles, self-driving cars and digital mobility services.

Mr. Müller aims to streamline a company that sells more than 10 million cars annually, operates more than 100 factories from China to Chattanooga, Tenn., and employs more than 600,000 people yet chronically...