A method for controlling engine braking includes determining an amount of brake pressure being applied by a vehicle traveling on a road. The method includes determining a current velocity of the vehicle, wherein a transmission of the vehicle is operating using a first gear of a plurality of gears. The method includes, according to the amount of brake pressure and the current velocity of the vehicle, determining a road grade threshold for a second gear of the plurality of gears. The method includes determining a grade of the road. The method includes determining that the determined grade of the road satisfies the road grade threshold for the second gear of the vehicle. The method includes, in response to the determination, causing the transmission of the vehicle to operate in the second gear of the plurality of gears.