diff --git a/automotive/vehicle/aidl/android/hardware/automotive/vehicle/IVehicle.aidl b/automotive/vehicle/aidl/android/hardware/automotive/vehicle/IVehicle.aidl
index a947963..dc9b876 100644
--- a/automotive/vehicle/aidl/android/hardware/automotive/vehicle/IVehicle.aidl
+++ b/automotive/vehicle/aidl/android/hardware/automotive/vehicle/IVehicle.aidl
@@ -165,6 +165,11 @@
      *    a property set failure message sent from the vehicle bus.
      * @param options List of options to subscribe. SubscribeOption contains
      *    information such as property Id, area Id, sample rate, etc.
+     *    For continuous properties, sample rate must be provided. If sample
+     *    rate is less than {@link VehiclePropConfig#minSampleRate}, the sample
+     *    rate would be minSampleRate. If sample rate is larger than
+     *    {@link VehiclePropValue#maxSampleRate}, the sample rate would be
+     *    maxSampleRate.
      * @param maxSharedMemoryFileCount The maximum number of shared memory files
      *    allocated for in VHAL for this subscription. When a memory file is
      *    handled back to the client, it cannot be used by VHAL to deliver
diff --git a/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp b/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp
index 886f897..76736d7 100644
--- a/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp
+++ b/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp
@@ -78,6 +78,16 @@
     return str;
 }
 
+float getDefaultSampleRate(float sampleRate, float minSampleRate, float maxSampleRate) {
+    if (sampleRate < minSampleRate) {
+        return minSampleRate;
+    }
+    if (sampleRate > maxSampleRate) {
+        return maxSampleRate;
+    }
+    return sampleRate;
+}
+
 }  // namespace
 
 std::shared_ptr<SubscriptionClient> DefaultVehicleHal::SubscriptionClients::maybeAddClient(
@@ -617,9 +627,10 @@
             float minSampleRate = config.minSampleRate;
             float maxSampleRate = config.maxSampleRate;
             if (sampleRate < minSampleRate || sampleRate > maxSampleRate) {
-                return StatusError(StatusCode::INVALID_ARG)
-                       << StringPrintf("sample rate: %f out of range, must be within %f and %f",
-                                       sampleRate, minSampleRate, maxSampleRate);
+                float defaultRate = getDefaultSampleRate(sampleRate, minSampleRate, maxSampleRate);
+                ALOGW("sample rate: %f out of range, must be within %f and %f, set to %f",
+                      sampleRate, minSampleRate, maxSampleRate, defaultRate);
+                sampleRate = defaultRate;
             }
             if (!SubscriptionManager::checkSampleRate(sampleRate)) {
                 return StatusError(StatusCode::INVALID_ARG)
@@ -673,6 +684,8 @@
         }
 
         if (config.changeMode == VehiclePropertyChangeMode::CONTINUOUS) {
+            optionCopy.sampleRate = getDefaultSampleRate(
+                    optionCopy.sampleRate, config.minSampleRate, config.maxSampleRate);
             continuousSubscriptions.push_back(std::move(optionCopy));
         } else {
             onChangeSubscriptions.push_back(std::move(optionCopy));
diff --git a/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp b/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp
index 6f8eb1d..49f5b7e 100644
--- a/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp
+++ b/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp
@@ -197,14 +197,6 @@
                             },
             },
             {
-                    .name = "sample_rate_out_of_range",
-                    .option =
-                            {
-                                    .propId = GLOBAL_CONTINUOUS_PROP,
-                                    .sampleRate = 1000.0,
-                            },
-            },
-            {
                     .name = "static_property",
                     .option =
                             {
@@ -1360,6 +1352,51 @@
     EXPECT_EQ(countClients(), static_cast<size_t>(1));
 }
 
+TEST_F(DefaultVehicleHalTest, testSubscribeGlobalContinuousRateOutOfRange) {
+    VehiclePropValue testValue{
+            .prop = GLOBAL_CONTINUOUS_PROP,
+            .value.int32Values = {0},
+    };
+    // Set responses for all the hardware getValues requests.
+    getHardware()->setGetValueResponder(
+            [](std::shared_ptr<const IVehicleHardware::GetValuesCallback> callback,
+               const std::vector<GetValueRequest>& requests) {
+                std::vector<GetValueResult> results;
+                for (auto& request : requests) {
+                    VehiclePropValue prop = request.prop;
+                    prop.value.int32Values = {0};
+                    results.push_back({
+                            .requestId = request.requestId,
+                            .status = StatusCode::OK,
+                            .prop = prop,
+                    });
+                }
+                (*callback)(results);
+                return StatusCode::OK;
+            });
+
+    // The maxSampleRate is 100, so the sample rate should be the default max 100.
+    std::vector<SubscribeOptions> options = {
+            {
+                    .propId = GLOBAL_CONTINUOUS_PROP,
+                    .sampleRate = 1000.0,
+            },
+    };
+
+    auto status = getClient()->subscribe(getCallbackClient(), options, 0);
+
+    ASSERT_TRUE(status.isOk()) << "subscribe failed: " << status.getMessage();
+
+    // Sleep for 1s, which should generate ~100 events.
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    size_t eventCount = getCallback()->countOnPropertyEventResults();
+    ASSERT_GE(eventCount, 50u) << "expect at least 50 events to be generated";
+    ASSERT_LE(eventCount, 150u) << "expect no more than 150 events to be generated";
+
+    EXPECT_EQ(countClients(), static_cast<size_t>(1));
+}
+
 TEST_F(DefaultVehicleHalTest, testSubscribeAreaContinuous) {
     // Set responses for all the hardware getValues requests.
     getHardware()->setGetValueResponder(
diff --git a/automotive/vehicle/aidl/impl/vhal/test/MockVehicleCallback.cpp b/automotive/vehicle/aidl/impl/vhal/test/MockVehicleCallback.cpp
index 5e3e03c..0e46357 100644
--- a/automotive/vehicle/aidl/impl/vhal/test/MockVehicleCallback.cpp
+++ b/automotive/vehicle/aidl/impl/vhal/test/MockVehicleCallback.cpp
@@ -82,6 +82,11 @@
     return pop(mOnPropertyEventResults);
 }
 
+size_t MockVehicleCallback::countOnPropertyEventResults() {
+    std::scoped_lock<std::mutex> lockGuard(mLock);
+    return mOnPropertyEventResults.size();
+}
+
 }  // namespace vehicle
 }  // namespace automotive
 }  // namespace hardware
diff --git a/automotive/vehicle/aidl/impl/vhal/test/MockVehicleCallback.h b/automotive/vehicle/aidl/impl/vhal/test/MockVehicleCallback.h
index 03bfd5b..0faaa1f 100644
--- a/automotive/vehicle/aidl/impl/vhal/test/MockVehicleCallback.h
+++ b/automotive/vehicle/aidl/impl/vhal/test/MockVehicleCallback.h
@@ -62,6 +62,7 @@
     nextSetValueResults();
     std::optional<aidl::android::hardware::automotive::vehicle::VehiclePropValues>
     nextOnPropertyEventResults();
+    size_t countOnPropertyEventResults();
 
   private:
     std::mutex mLock;