diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp
index 5d12031f9039b..c785ab661060d 100644
--- a/control/autoware_autonomous_emergency_braking/src/node.cpp
+++ b/control/autoware_autonomous_emergency_braking/src/node.cpp
@@ -900,11 +900,15 @@ void AEB::getClosestObjectsOnPath(
     return autoware::universe_utils::createPoint(p.x, p.y, p.z);
   }();
 
+  const auto path_length = autoware::motion_utils::calcArcLength(ego_path);
   for (const auto & p : *points_belonging_to_cluster_hulls) {
     const auto obj_position = autoware::universe_utils::createPoint(p.x, p.y, p.z);
     const double obj_arc_length =
       autoware::motion_utils::calcSignedArcLength(ego_path, current_p, obj_position);
-    if (std::isnan(obj_arc_length)) continue;
+    if (
+      std::isnan(obj_arc_length) ||
+      obj_arc_length > path_length + vehicle_info_.max_longitudinal_offset_m)
+      continue;
 
     // calculate the lateral offset between the ego vehicle and the object
     const double lateral_offset =