A method of exhaust braking a vehicle includes determining a wheel slip ratio based on input from vehicle sensors. Based on a determination that the wheel slip ratio is unstable, the method further includes sending a command to reduce exhaust braking. Based on a determination that exhaust braking is reduced, the method further includes determining a change in wheel slip ratio over time based on input from the vehicle sensors. Based on a determination that the change in wheel slip ratio over time is stabilizing, the method further includes sending a command to increase exhaust braking.