A method for adjusting downshift points of a vehicle transmission to assist vehicle braking in a vehicle having a brake system with a brake master cylinder and a brake pedal for actuating the brake system may comprise determining if the brake pedal is pressed. When the brake pedal is pressed, an intended brake effort may be determined and the actual deceleration of the vehicle may be calculated. A threshold deceleration for the intended brake effort may then be determined and compared to the vehicle deceleration. When the vehicle deceleration is less than the threshold deceleration for the intended braking effort a downshift point of the transmission may be adjusted. Thereafter the transmission may be downshifted using the adjusted downshift point.