The Bianconeri lead the European champions 2-1 from the first leg of their Champions League semi-final thanks to strikes from Alvaro Morata and Carlos Tevez, but Cristiano Ronaldo's away goal could prove crucial.
The former Bayer Leverkusen right-back feels his side should adopt a patient approach and look to slowly break down Massimiliano Allegri's men rather than attack en masse.
"We must keep a cool head, be patient and not go crazy," he is quoted as saying by Marca.
"We know what a game of football lasts 90 minutes. We have to make them pay a high price for suffering without possession.
"We have to learn from the game in Turin. They created danger for us. If we stay calm, have patience and move them, the game will fall to us.
"We cannot make mistakes on easy passes in simple situations. That gives them life."
Morata began his career at Real Madrid before moving to Juventus last summer and, though Carvajal is happy to see him playing well, he is not looking forward to facing his old colleague.
"To find a friend in the semi-finals of the Champions League is great but playing against him is a disadvantage because he's a great player and a big danger."
Madrid are expected to be boosted by the return of star forward Karim Benzema and Carvajal feels his comeback could shift the tie in his side's favour.
"Karim brings us a lot of things. I hope he can get to the game on Wednesday and do his bit, which is always important."
Carvajal also called upon the Santiago Bernabeu faithful to get behind the team to give them extra motivation to reach the Berlin showpiece.
"We will feel the breath of the fans; they'll be our 12th man."
