A method of automatically activating a high-torque braking system in a heavy-duty vehicle configured to operate in at least one low speed, high torque mode and at least one higher speed, lower torque mode is disclosed. The method includes determining a speed-controller device such as a joystick or lever of the vehicle is in a first position which results in the vehicle travelling in a higher-speed, lower-torque mode, and, responsive to detecting braking and a change in position of the speed-controller from the first position to a second, neutral, position, activating a low-speed high torque mode of operation for braking the vehicle.