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.