As the number of automobiles in the world is increasing, problems associated with environment and safety are becoming serious matter. One of the solutions to these problems is platooning of trucks. Platooning means a number of vehicles form convoy and automatically run in one group. Platooning makes mileage good and enables the number of traffic accidents to decrease because of automatic operation. In existing study of our group, the shift of the vehicle was fixed. This is one of the problems for practical realization. In this paper, parameters of a truck for each shift are identified and a method of the shift change is proposed in order to reduce the spacing error.