Heart rate got high while exercising

I was working out today and without realizing my heart rate got up to 185-190. It was probably that way for two minutes or so. I realized it because I felt exhausted. Now I’m worried that I hurt my baby. I’m about 17.5 weeks and so upset now.

My dr said I can exercise but I’ve always been good about not letting it get over 170. Should I be worried now?