diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 1b1858703d..cfba43b4da 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -102,7 +102,7 @@ class CarController(CarControllerBase):
       # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
       set_speed = hud_control.setSpeed * CV.MS_TO_KPH
       can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed,
-                                                       lead_distance))
+                                                       lead_distance, hud_control.leadDistanceBars))
 
     # **** Stock ACC Button Controls **************************************** #
 
diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py
index 787c7de530..6043533acf 100644
--- a/selfdrive/car/volkswagen/mqbcan.py
+++ b/selfdrive/car/volkswagen/mqbcan.py
@@ -125,11 +125,11 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont
   return commands
 
 
-def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance):
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, distance):
   values = {
     "ACC_Status_Anzeige": acc_hud_status,
     "ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36,
-    "ACC_Gesetzte_Zeitluecke": 3,
+    "ACC_Gesetzte_Zeitluecke": distance + 2,
     "ACC_Display_Prio": 3,
     "ACC_Abstandsindex": lead_distance,
   }
diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
index f42c3cf781..b77f33511f 100644
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@@ -91,7 +91,7 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont
   return commands
 
 
-def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance):
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, distance):
   values = {
     "ACA_StaACC": acc_hud_status,
     "ACA_Zeitluecke": 2,