A METHOD FOR CONTROLLING THE BRAKING OF A VEHICLE COMPRISING A DIESEL ENGINE

The invention relates to a method for controlling braking of a vehicle (), comprising a diesel engine () and an exhaust after treatment (EAT) system () for treating exhaust from said diesel engine (), a set of ground engaging members (), and a transmission () between said set of ground engaging members () and said diesel engine (). The method comprises: In response to a determined present engine speed being equal to or less than a current engine braking minimum limit speed: changing the gear ratio of said transmission () such that an updated engine speed is obtained, whereby a determined present engine speed is above said current engine braking minimum limit speed (S), and -In response to the determined present engine speed being above said current engine braking minimum limit speed: engine braking so as to decrease said present engine speed (S). The invention also relates to a computer program, a computer readable medium, a control unit, and a vehicle comprising a control unit.