A method for controlling a differential braking arrangement of a vehicle, said vehicle comprising at least one auxiliary braking arrangement and at least one differential braking arrangement, said auxiliary braking arrangement and said differential braking arrangement being connected to a pair of propelled wheels of said vehicle, wherein the differential braking arrangement is arranged to control a relative rotational speed between the pair of propelled wheels, wherein the method comprises the steps of receiving a signal indicative of a downhill slope for a road ahead of said vehicle; determining an inclination of said downhill slope; determining a braking power needed for the at least one auxiliary braking arrangement for preventing the vehicle speed of the vehicle from exceeding a predetermined speed limit when driving at the downhill slope; and engaging the at least one differential braking arrangement for reducing the relative rotational speed between the propelled wheels if the determined braking power of the at least one auxiliary braking arrangement is higher than a predetermined threshold.