diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
index b77f33511f..307aaaa2a7 100644
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@@ -94,7 +94,7 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont
 def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, distance):
   values = {
     "ACA_StaACC": acc_hud_status,
-    "ACA_Zeitluecke": 2,
+    "ACA_Zeitluecke": distance + 2,
     "ACA_V_Wunsch": set_speed,
     "ACA_gemZeitl": lead_distance,
     "ACA_PrioDisp": 3,