I am looking for an opportunity to add a new worker node to my kubernetes cluster when its allocatable resources falls below a specified minimum.

To scale out a cluster automatically I found the cluster-autoscaler. But the documentation says, it only scales out, if:

there are pods that failed to run in the cluster due to insufficient resources

Therefore a new node gets started only after a pod is in pending state. The startup of a new node takes about 2 minutes and I would like to avoid a pending time of 2 minutes for a pod.