A method of controlling a vehicle having a transmission system, an engine system, and a braking system includes detecting a braking condition of the braking system. The braking condition is at least one of a brake temperature being above a predetermined brake temperature limit and a braking load being above a predetermined braking load limit. The method also includes detecting a second condition of at least one of the transmission system and the engine system. The method also includes determining whether the second condition satisfies predetermined criteria. Furthermore, the method includes detecting an absolute vehicle acceleration that is below a predetermined acceleration limit. Moreover, the method includes downshifting from a current gear to a lower gear to thereby cause engine braking when the braking condition is satisfied, the second condition satisfies the predetermined criteria, and the absolute vehicle acceleration is below the predetermined acceleration limit.