A method of selecting a gear ratio of a transmission. The method includes measuring a current road grade with a sensing device and communicating the current road grade measurement to the controller. The controller receives a signal corresponding to a service brake input and determines a desired maximum acceleration limit of the vehicle. The method also includes calculating a predicted vehicle acceleration, measuring a current vehicle acceleration, and calculating an error value as a function of the predicted vehicle acceleration and measured vehicle acceleration. The method also computes an estimated required tractive braking effort and estimated tractive braking effort for at least one of N automatically selectable gear ratios of the transmission and selects one gear ratio of the N automatically selectable gear ratios for the operation of the transmission based on a comparison of the estimated required tractive braking effort and estimated tractive braking effort.