diff --git a/automotive/vehicle/2.0/vts/functional/Android.bp b/automotive/vehicle/2.0/vts/functional/Android.bp
new file mode 100644
index 0000000..9f1dd6f
--- /dev/null
+++ b/automotive/vehicle/2.0/vts/functional/Android.bp
@@ -0,0 +1,21 @@
+cc_test {
+    name: "VtsHalAutomotiveVehicleV2_0TargetTest",
+    defaults: [
+        "VtsHalTargetTestDefaults",
+    ],
+    srcs: [
+        "VtsHalAutomotiveVehicleV2_0TargetTest.cpp",
+    ],
+    shared_libs: [
+        "libbase",
+        "libhidlbase",
+        "liblog",
+    ],
+    static_libs: [
+        "android.hardware.automotive.vehicle@2.0",
+    ],
+    test_suites: [
+        "vts",
+        "general-tests",
+    ],
+}
diff --git a/automotive/vehicle/2.0/vts/functional/VtsHalAutomotiveVehicleV2_0TargetTest.cpp b/automotive/vehicle/2.0/vts/functional/VtsHalAutomotiveVehicleV2_0TargetTest.cpp
new file mode 100644
index 0000000..7f1d4d1
--- /dev/null
+++ b/automotive/vehicle/2.0/vts/functional/VtsHalAutomotiveVehicleV2_0TargetTest.cpp
@@ -0,0 +1,247 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#define LOG_TAG "VtsHalAutomotiveVehicle"
+
+#include <android/hardware/automotive/vehicle/2.0/IVehicle.h>
+#include <utils/Log.h>
+
+#include <gtest/gtest.h>
+#include <hidl/GtestPrinter.h>
+#include <hidl/ServiceManagement.h>
+
+using namespace android::hardware::automotive::vehicle::V2_0;
+using ::android::sp;
+using ::android::hardware::hidl_vec;
+using ::android::hardware::Return;
+
+constexpr auto kTimeout = std::chrono::milliseconds(500);
+constexpr auto kInvalidProp = 0x31600207;
+
+class VtsVehicleCallback : public IVehicleCallback {
+  private:
+    using MutexGuard = std::lock_guard<std::mutex>;
+    using HidlVecOfValues = hidl_vec<VehiclePropValue>;
+    std::mutex mLock;
+    std::condition_variable mEventCond;
+    std::vector<HidlVecOfValues> mReceivedEvents;
+
+  public:
+    Return<void> onPropertyEvent(const hidl_vec<VehiclePropValue>& values) override {
+        {
+            MutexGuard guard(mLock);
+            mReceivedEvents.push_back(values);
+        }
+        mEventCond.notify_one();
+        return Return<void>();
+    }
+
+    Return<void> onPropertySet(const VehiclePropValue& /* value */) override {
+        return Return<void>();
+    }
+    Return<void> onPropertySetError(StatusCode /* errorCode */, int32_t /* propId */,
+                                    int32_t /* areaId */) override {
+        return Return<void>();
+    }
+
+    bool waitForExpectedEvents(size_t expectedEvents) {
+        std::unique_lock<std::mutex> g(mLock);
+
+        if (expectedEvents == 0 && mReceivedEvents.size() == 0) {
+            return mEventCond.wait_for(g, kTimeout) == std::cv_status::timeout;
+        }
+
+        while (expectedEvents != mReceivedEvents.size()) {
+            if (mEventCond.wait_for(g, kTimeout) == std::cv_status::timeout) {
+                return false;
+            }
+        }
+        return true;
+    }
+
+    void reset() { mReceivedEvents.clear(); }
+};
+
+class VehicleHalHidlTest : public testing::TestWithParam<std::string> {
+  public:
+    virtual void SetUp() override {
+        mVehicle = IVehicle::getService(GetParam());
+        ASSERT_NE(mVehicle.get(), nullptr);
+    }
+    virtual void TearDown() override {}
+
+    sp<IVehicle> mVehicle;
+
+    bool isBooleanGlobalProp(int32_t property) {
+        return (property & (int)VehiclePropertyType::MASK) == (int)VehiclePropertyType::BOOLEAN &&
+               (property & (int)VehicleArea::MASK) == (int)VehicleArea::GLOBAL;
+    }
+
+    void invokeGet(int32_t property, int32_t areaId) {
+        VehiclePropValue requestedValue{};
+        requestedValue.prop = property;
+        requestedValue.areaId = areaId;
+
+        invokeGet(requestedValue);
+    }
+
+    void invokeGet(const VehiclePropValue& requestedPropValue) {
+        mActualValue = VehiclePropValue{};  // reset previous values
+
+        StatusCode refStatus;
+        VehiclePropValue refValue;
+        bool isCalled = false;
+        mVehicle->get(requestedPropValue,
+                      [&refStatus, &refValue, &isCalled](StatusCode status,
+                                                         const VehiclePropValue& value) {
+                          refStatus = status;
+                          refValue = value;
+                          isCalled = true;
+                      });
+        ASSERT_TRUE(isCalled) << "callback wasn't called for property: " << requestedPropValue.prop;
+
+        mActualValue = refValue;
+        mActualStatusCode = refStatus;
+    }
+
+    VehiclePropValue mActualValue;
+    StatusCode mActualStatusCode;
+};
+
+// Test getAllPropConfig() returns at least 4 property configs.
+TEST_P(VehicleHalHidlTest, getAllPropConfigs) {
+    ALOGD("VehicleHalHidlTest::getAllPropConfigs");
+    bool isCalled = false;
+    hidl_vec<VehiclePropConfig> propConfigs;
+    mVehicle->getAllPropConfigs([&isCalled, &propConfigs](const hidl_vec<VehiclePropConfig>& cfgs) {
+        propConfigs = cfgs;
+        isCalled = true;
+    });
+    ASSERT_TRUE(isCalled);
+    ASSERT_GE(propConfigs.size(), 4);
+}
+
+// Test getPropConfig() can query all properties listed in CDD.
+TEST_P(VehicleHalHidlTest, getPropConfigs) {
+    ALOGD("VehicleHalHidlTest::getPropConfigs");
+    // Check the properties listed in CDD
+    hidl_vec<int32_t> properties = {
+            (int)VehicleProperty::GEAR_SELECTION, (int)VehicleProperty::NIGHT_MODE,
+            (int)VehicleProperty::PARKING_BRAKE_ON, (int)VehicleProperty::PERF_VEHICLE_SPEED};
+    bool isCalled = false;
+    mVehicle->getPropConfigs(
+            properties, [&isCalled](StatusCode status, const hidl_vec<VehiclePropConfig>& cfgs) {
+                ASSERT_EQ(StatusCode::OK, status);
+                ASSERT_EQ(4u, cfgs.size());
+                isCalled = true;
+            });
+    ASSERT_TRUE(isCalled);
+}
+
+// Test getPropConfig() with an invalid propertyId returns an error code.
+TEST_P(VehicleHalHidlTest, getPropConfigsWithInvalidProp) {
+    ALOGD("VehicleHalHidlTest::getPropConfigsWithInvalidProp");
+    hidl_vec<int32_t> properties = {kInvalidProp};
+    bool isCalled = false;
+    mVehicle->getPropConfigs(
+            properties, [&isCalled](StatusCode status, const hidl_vec<VehiclePropConfig>& cfgs) {
+                ASSERT_NE(StatusCode::OK, status);
+                ASSERT_EQ(0, cfgs.size());
+                isCalled = true;
+            });
+    ASSERT_TRUE(isCalled);
+}
+
+// Test get() return current value for properties.
+TEST_P(VehicleHalHidlTest, get) {
+    ALOGD("VehicleHalHidlTest::get");
+    invokeGet((int)VehicleProperty::PERF_VEHICLE_SPEED, 0);
+    ASSERT_EQ(StatusCode::OK, mActualStatusCode);
+}
+
+// Test get() with an invalid propertyId return an error codes.
+TEST_P(VehicleHalHidlTest, getInvalidProp) {
+    ALOGD("VehicleHalHidlTest::getInvalidProp");
+
+    invokeGet(kInvalidProp, 0);
+    ASSERT_NE(StatusCode::OK, mActualStatusCode);
+}
+
+// Test set() on read_write properties.
+TEST_P(VehicleHalHidlTest, setProp) {
+    ALOGD("VehicleHalHidlTest::setProp");
+    hidl_vec<VehiclePropConfig> propConfigs;
+    mVehicle->getAllPropConfigs(
+            [&propConfigs](const hidl_vec<VehiclePropConfig>& cfgs) { propConfigs = cfgs; });
+    for (const VehiclePropConfig& cfg : propConfigs) {
+        // test on boolean and writable property
+        if (cfg.access == VehiclePropertyAccess::READ_WRITE && isBooleanGlobalProp(cfg.prop)) {
+            invokeGet(cfg.prop, 0);
+            int setValue = mActualValue.value.int32Values[0] == 1 ? 0 : 1;
+            VehiclePropValue propToSet = mActualValue;
+            propToSet.value.int32Values[0] = setValue;
+            ASSERT_EQ(StatusCode::OK, mVehicle->set(propToSet));
+            // check set success
+            invokeGet(cfg.prop, 0);
+            ASSERT_EQ(StatusCode::OK, mActualStatusCode);
+            ASSERT_EQ(setValue, mActualValue.value.int32Values[0]);
+        }
+    }
+}
+
+// Test set() on an read_only property.
+TEST_P(VehicleHalHidlTest, setNotWritableProp) {
+    ALOGD("VehicleHalHidlTest::setNotWritableProp");
+    invokeGet(static_cast<int>(VehicleProperty::PERF_VEHICLE_SPEED), 0);
+    ASSERT_EQ(StatusCode::OK, mActualStatusCode);
+    VehiclePropValue vehicleSpeed = mActualValue;
+
+    ASSERT_EQ(StatusCode::ACCESS_DENIED, mVehicle->set(vehicleSpeed));
+}
+
+// Test subscribe() and unsubscribe().
+TEST_P(VehicleHalHidlTest, subscribeAndUnsubscribe) {
+    ALOGD("VehicleHalHidlTest::subscribeAndUnsubscribe");
+    const auto prop = static_cast<int>(VehicleProperty::PERF_VEHICLE_SPEED);
+    sp<VtsVehicleCallback> cb = new VtsVehicleCallback();
+
+    hidl_vec<SubscribeOptions> options = {
+            SubscribeOptions{.propId = prop, 100.0, .flags = SubscribeFlags::EVENTS_FROM_CAR}};
+
+    ASSERT_EQ(StatusCode::OK, mVehicle->subscribe(cb, options));
+    ASSERT_TRUE(cb->waitForExpectedEvents(10));
+
+    ASSERT_EQ(StatusCode::OK, mVehicle->unsubscribe(cb, prop));
+    cb->reset();
+    ASSERT_FALSE(cb->waitForExpectedEvents(10));
+}
+
+// Test subscribe() with an invalid property.
+TEST_P(VehicleHalHidlTest, subscribeInvalidProp) {
+    ALOGD("VehicleHalHidlTest::subscribeInvalidProp");
+
+    sp<VtsVehicleCallback> cb = new VtsVehicleCallback();
+
+    hidl_vec<SubscribeOptions> options = {SubscribeOptions{
+            .propId = kInvalidProp, 10.0, .flags = SubscribeFlags::EVENTS_FROM_CAR}};
+
+    ASSERT_NE(StatusCode::OK, mVehicle->subscribe(cb, options));
+}
+
+INSTANTIATE_TEST_SUITE_P(
+        PerInstance, VehicleHalHidlTest,
+        testing::ValuesIn(android::hardware::getAllHalInstanceNames(IVehicle::descriptor)),
+        android::hardware::PrintInstanceNameToString);