A method of downshifting an automotive transmission. An on-coming transmission element is stroked while pressure for an off-going element is reduced. Pressure for the stroked on-coming element is increased to be sufficient to carry torque. Pressure for the off-going element is reduced below a torque transmitting amount once the stroked on-coming element has a sufficient torque carrying capacity. Torque capacities for the elements are determined from transmission output torque and acceleration and transmission input torque and acceleration. Feed forward or feedback terms for off-going and on-coming element torque capacities may be calculated using the transmission output torque, transmission input acceleration, and transmission input torque.