METHOD AND SYSTEM OF CONTROLLING A VEHICLE ON A DOWNSLOPE ROUTE

In one aspect, it is aimed to provide a system of controlling a vehicle on a downslope route, the vehicle including a combustion engine provided with an engine retarder, and further comprising a brake controller programmed to: upon activating, by a driver, the engine retarder, activating, by the brake controller, of the foundation brake in a transient period having a foundation brake profile; wherein the foundation brake profile has a first initial phase with a peak brake power that lowers the speed of the vehicle on the downslope route, and wherein the foundation brake profile has a second phase that with a brake power lower than the peak brake power and that gradually decreases with a time constant about equal to the increase of engine retarder performance due to buildup of back pressure, to a steady state wherein the vehicle velocity is substantially constant with zero foundation brake power.