diff --git a/nav2_regulated_pure_pursuit_controller/src/collision_checker.cpp b/nav2_regulated_pure_pursuit_controller/src/collision_checker.cpp
index 24d65a6a24..dfbd7187b6 100644
--- a/nav2_regulated_pure_pursuit_controller/src/collision_checker.cpp
+++ b/nav2_regulated_pure_pursuit_controller/src/collision_checker.cpp
@@ -98,7 +98,8 @@ bool CollisionChecker::isCollisionImminent(
         params_->min_distance_to_obstacle / std::max(std::abs(linear_vel),
         params_->min_approach_linear_velocity)
     );
-    simulation_distance_limit = std::max(carrot_dist, params_->min_distance_to_obstacle);
+    simulation_distance_limit = std::min(std::max(carrot_dist, params_->min_distance_to_obstacle),
+                                params_->max_lookahead_dist);
   }
   int i = 1;
   while (i * projection_time < max_allowed_time_to_collision_check) {
diff --git a/nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp b/nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp
index 5bd1f2a7ee..ba497e01fc 100644
--- a/nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp
+++ b/nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp
@@ -189,6 +189,15 @@ ParameterHandler::ParameterHandler(
   node->get_parameter(
     plugin_name_ + ".use_collision_detection",
     params_.use_collision_detection);
+  if (params_.use_collision_detection &&
+    params_.min_distance_to_obstacle > params_.max_lookahead_dist)
+  {
+    RCLCPP_WARN(
+      logger_,
+      "min_distance_to_obstacle (%.02f) is greater than max_lookahead_dist (%.02f). "
+      "The collision check distance will be capped by max_lookahead_dist.",
+      params_.min_distance_to_obstacle, params_.max_lookahead_dist);
+  }
   node->get_parameter(plugin_name_ + ".stateful", params_.stateful);
 
   if (params_.inflation_cost_scaling_factor <= 0.0) {