diff --git a/src/control_vehicle.c b/src/control_vehicle.c
index cc26c78..8f3a5ad 100644
--- a/src/control_vehicle.c
+++ b/src/control_vehicle.c
@@ -560,6 +560,15 @@ void control_loop(void)
       const double dt = now - last_time;
       const double dt_error = dt - expected_dt;
       last_time = now;
+      if (dt < 0)
+      {
+        yprintf(
+            OUTPUT_LV_ERROR,
+            "Detected system time jump back, monotonic time diff: %0.5fs, system time diff: %0.5fs\n",
+            expected_dt, dt);
+        static int status = EXIT_FAILURE;
+        pthread_exit(&status);
+      }
       if (dt_error < -p(YP_PARAM_MAX_TIME_JUMP_NEG, 0) || p(YP_PARAM_MAX_TIME_JUMP, 0) < dt_error)
       {
         yprintf(