The heart rate is not likely to get any higher on a long walk, though. You have to increase the speed too.
Years ago I knew a formula to figure this out, but I of course can't remember even enough of it to know how to look for it again. Basically, you can go a short distance fast, or a long distance slow, and get the same benefit. Best of all of course is to go a long distance fast, but that's more work.