diff --git a/automotive/vehicle/aidl/impl/fake_impl/hardware/src/FakeVehicleHardware.cpp b/automotive/vehicle/aidl/impl/fake_impl/hardware/src/FakeVehicleHardware.cpp
index 097257e..a78d989 100644
--- a/automotive/vehicle/aidl/impl/fake_impl/hardware/src/FakeVehicleHardware.cpp
+++ b/automotive/vehicle/aidl/impl/fake_impl/hardware/src/FakeVehicleHardware.cpp
@@ -211,10 +211,16 @@
         case toInt(VehicleApPowerStateReport::SHUTDOWN_CANCELLED):
             [[fallthrough]];
         case toInt(VehicleApPowerStateReport::WAIT_FOR_VHAL):
-            // CPMS is in WAIT_FOR_VHAL state, simply move to ON
-            // Send back to HAL
-            // ALWAYS update status for generated property value
+            // CPMS is in WAIT_FOR_VHAL state, simply move to ON and send back to HAL.
+            // Must erase existing state because in the case when Car Service crashes, the power
+            // state would already be ON when we receive WAIT_FOR_VHAL and thus new property change
+            // event would be generated. However, Car Service always expect a property change event
+            // even though there is not actual state change.
+            mServerSidePropStore->removeValuesForProperty(
+                    toInt(VehicleProperty::AP_POWER_STATE_REQ));
             prop = createApPowerStateReq(VehicleApPowerStateReq::ON);
+
+            // ALWAYS update status for generated property value
             if (auto writeResult =
                         mServerSidePropStore->writeValue(std::move(prop), /*updateStatus=*/true);
                 !writeResult.ok()) {
diff --git a/automotive/vehicle/aidl/impl/fake_impl/hardware/test/FakeVehicleHardwareTest.cpp b/automotive/vehicle/aidl/impl/fake_impl/hardware/test/FakeVehicleHardwareTest.cpp
index 3dae9fc..6259f96 100644
--- a/automotive/vehicle/aidl/impl/fake_impl/hardware/test/FakeVehicleHardwareTest.cpp
+++ b/automotive/vehicle/aidl/impl/fake_impl/hardware/test/FakeVehicleHardwareTest.cpp
@@ -924,6 +924,32 @@
             return info.param.name;
         });
 
+TEST_F(FakeVehicleHardwareTest, testSetWaitForVhalAfterCarServiceCrash) {
+    int32_t propId = toInt(VehicleProperty::AP_POWER_STATE_REPORT);
+    VehiclePropValue request = VehiclePropValue{
+            .prop = propId,
+            .value.int32Values = {toInt(VehicleApPowerStateReport::WAIT_FOR_VHAL)},
+    };
+    ASSERT_EQ(setValue(request), StatusCode::OK) << "failed to set property " << propId;
+
+    // Clear existing events.
+    clearChangedProperties();
+
+    // Simulate a Car Service crash, Car Service would restart and send the message again.
+    ASSERT_EQ(setValue(request), StatusCode::OK) << "failed to set property " << propId;
+
+    std::vector<VehiclePropValue> events = getChangedProperties();
+    // Even though the state is already ON, we should receive another ON event.
+    ASSERT_EQ(events.size(), 1u);
+    // Erase the timestamp for comparison.
+    events[0].timestamp = 0;
+    ASSERT_EQ(events[0], (VehiclePropValue{
+                                 .prop = toInt(VehicleProperty::AP_POWER_STATE_REQ),
+                                 .status = VehiclePropertyStatus::AVAILABLE,
+                                 .value.int32Values = {toInt(VehicleApPowerStateReq::ON), 0},
+                         }));
+}
+
 TEST_F(FakeVehicleHardwareTest, testGetObd2FreezeFrame) {
     int64_t timestamp = elapsedRealtimeNano();