A method of controlling a vehicle with a hybrid powertrain with an engine and a motor/generator includes monitoring net axle torque on the drive axle, monitoring vehicle deceleration rate, monitoring vehicle speed, and controlling the motor/generator to stop rotation of the engine crankshaft when the vehicle speed is non-zero and below a predetermined vehicle speed auto-stop enable threshold if torque percentage braking torque is greater than a predetermined percentage braking torque and the vehicle deceleration rate is greater than a predetermined threshold vehicle deceleration rate. A hybrid vehicle has a controller with a processor that executes a stored algorithm to carry out the method.