Method of changing gears of automobile, automotive gear shifter, controller for automotive gear shifter, and actuator controller for automotive gear shifter

The invention relates to an automotive gear shifter (100) and is directed to enable compactness by lowering the connecting force of a dog clutch (7-9) so as to decrease the energy consumption and reduce the size of an actuation system. There is provided a method of changing gears of automobile which moves the dog clutch (7-9) in the axial direction at the time of a gear change, while applying weak periodic torque vibration between the gear of the dog clutch (7-9) and a change gear of the gear shifter (100), and disconnects the two gears and, after the gear of the dog clutch (7-9) and change gear of the gear shifter (100) have been disconnected, also moves the dog clutch (7-9) in the axial direction, while applying weak periodic rotating speed vibration between the gear of the dog clutch (7-9) and another change gear of the gear shifter (100), and connects the two gears.