diff --git a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
index 1d2d910..72bff22 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
@@ -264,6 +264,7 @@
         {VehicleProperty::CRUISE_CONTROL_STATE, VehiclePropertyAccess::READ},
         {VehicleProperty::CRUISE_CONTROL_COMMAND, VehiclePropertyAccess::WRITE},
         {VehicleProperty::HANDS_ON_DETECTION_ENABLED, VehiclePropertyAccess::READ_WRITE},
+        {VehicleProperty::HANDS_ON_DETECTION_DRIVER_STATE, VehiclePropertyAccess::READ},
         {VehicleProperty::DRIVER_ATTENTION_MONITORING_ENABLED, VehiclePropertyAccess::READ_WRITE},
 };
 
diff --git a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
index 613636e..7122019 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
@@ -264,6 +264,7 @@
         {VehicleProperty::CRUISE_CONTROL_STATE, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::CRUISE_CONTROL_COMMAND, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::HANDS_ON_DETECTION_ENABLED, VehiclePropertyChangeMode::ON_CHANGE},
+        {VehicleProperty::HANDS_ON_DETECTION_DRIVER_STATE, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::DRIVER_ATTENTION_MONITORING_ENABLED, VehiclePropertyChangeMode::ON_CHANGE},
 };
 
diff --git a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
index f83f1c2..2ed889e 100644
--- a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
@@ -256,6 +256,7 @@
         Map.entry(VehicleProperty.CRUISE_CONTROL_STATE, VehiclePropertyAccess.READ),
         Map.entry(VehicleProperty.CRUISE_CONTROL_COMMAND, VehiclePropertyAccess.WRITE),
         Map.entry(VehicleProperty.HANDS_ON_DETECTION_ENABLED, VehiclePropertyAccess.READ_WRITE),
+        Map.entry(VehicleProperty.HANDS_ON_DETECTION_DRIVER_STATE, VehiclePropertyAccess.READ),
         Map.entry(VehicleProperty.DRIVER_ATTENTION_MONITORING_ENABLED, VehiclePropertyAccess.READ_WRITE)
     );
 
diff --git a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
index f0642fe..de3a8ae 100644
--- a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
@@ -256,6 +256,7 @@
         Map.entry(VehicleProperty.CRUISE_CONTROL_STATE, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.CRUISE_CONTROL_COMMAND, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.HANDS_ON_DETECTION_ENABLED, VehiclePropertyChangeMode.ON_CHANGE),
+        Map.entry(VehicleProperty.HANDS_ON_DETECTION_DRIVER_STATE, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.DRIVER_ATTENTION_MONITORING_ENABLED, VehiclePropertyChangeMode.ON_CHANGE)
     );
 
diff --git a/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp b/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp
index 7531589..119d157 100644
--- a/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp
+++ b/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp
@@ -49,6 +49,7 @@
 using ::aidl::android::hardware::automotive::vehicle::ForwardCollisionWarningState;
 using ::aidl::android::hardware::automotive::vehicle::FuelType;
 using ::aidl::android::hardware::automotive::vehicle::GsrComplianceRequirementType;
+using ::aidl::android::hardware::automotive::vehicle::HandsOnDetectionDriverState;
 using ::aidl::android::hardware::automotive::vehicle::LaneCenteringAssistCommand;
 using ::aidl::android::hardware::automotive::vehicle::LaneCenteringAssistState;
 using ::aidl::android::hardware::automotive::vehicle::LaneDepartureWarningState;
@@ -230,6 +231,8 @@
             std::make_unique<ConstantParser<CruiseControlState>>();
     mConstantParsersByType["CruiseControlCommand"] =
             std::make_unique<ConstantParser<CruiseControlCommand>>();
+    mConstantParsersByType["HandsOnDetectionDriverState"] =
+            std::make_unique<ConstantParser<HandsOnDetectionDriverState>>();
     mConstantParsersByType["ErrorState"] = std::make_unique<ConstantParser<ErrorState>>();
     mConstantParsersByType["AutomaticEmergencyBrakingState"] =
             std::make_unique<ConstantParser<AutomaticEmergencyBrakingState>>();
diff --git a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
index a0e8115..71af0e8 100644
--- a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
+++ b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
@@ -3216,6 +3216,24 @@
             }
         },
         {
+            "property": "VehicleProperty::HANDS_ON_DETECTION_DRIVER_STATE",
+            "defaultValue": {
+                "int32Values": [
+                    "HandsOnDetectionDriverState::HANDS_ON"
+                ]
+            },
+            "areas": [
+                {
+                    "areaId": 0,
+                    "supportedEnumValues": [
+                        "ErrorState::NOT_AVAILABLE_DISABLED",
+                        "HandsOnDetectionDriverState::HANDS_ON",
+                        "HandsOnDetectionDriverState::HANDS_OFF"
+                    ]
+                }
+            ]
+        },
+        {
             "property": "VehicleProperty::DRIVER_ATTENTION_MONITORING_ENABLED",
             "defaultValue": {
                 "int32Values": [
diff --git a/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h b/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
index 3b26aa6..e0b9584 100644
--- a/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
+++ b/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
@@ -36,6 +36,7 @@
 #include <aidl/android/hardware/automotive/vehicle/GetValueResult.h>
 #include <aidl/android/hardware/automotive/vehicle/GetValueResults.h>
 #include <aidl/android/hardware/automotive/vehicle/GsrComplianceRequirementType.h>
+#include <aidl/android/hardware/automotive/vehicle/HandsOnDetectionDriverState.h>
 #include <aidl/android/hardware/automotive/vehicle/LaneCenteringAssistCommand.h>
 #include <aidl/android/hardware/automotive/vehicle/LaneCenteringAssistState.h>
 #include <aidl/android/hardware/automotive/vehicle/LaneDepartureWarningState.h>
diff --git a/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/HandsOnDetectionDriverState.aidl b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/HandsOnDetectionDriverState.aidl
new file mode 100644
index 0000000..bb390f2
--- /dev/null
+++ b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/HandsOnDetectionDriverState.aidl
@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2023 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.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.automotive.vehicle;
+@Backing(type="int") @VintfStability
+enum HandsOnDetectionDriverState {
+  OTHER = 0,
+  HANDS_ON = 1,
+  HANDS_OFF = 2,
+}
diff --git a/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl
index bbec4bf..efcfd68 100644
--- a/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -262,5 +262,6 @@
   CRUISE_CONTROL_STATE = (((0x1011 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32) /* 289411089 */,
   CRUISE_CONTROL_COMMAND = (((0x1012 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32) /* 289411090 */,
   HANDS_ON_DETECTION_ENABLED = (((0x1016 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.BOOLEAN) /* 287313942 */,
+  HANDS_ON_DETECTION_DRIVER_STATE = (((0x1017 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32) /* 289411095 */,
   DRIVER_ATTENTION_MONITORING_ENABLED = (((0x1019 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.BOOLEAN) /* 287313945 */,
 }
diff --git a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/HandsOnDetectionDriverState.aidl b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/HandsOnDetectionDriverState.aidl
new file mode 100644
index 0000000..4a36999
--- /dev/null
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/HandsOnDetectionDriverState.aidl
@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2023 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.
+ */
+
+package android.hardware.automotive.vehicle;
+
+/**
+ * Used to enumerate the current driver state of Hands On Detection (HOD).
+ */
+@VintfStability
+@Backing(type="int")
+enum HandsOnDetectionDriverState {
+    /**
+     * This state is used as an alternative for any HandsOnDetectionDriverState value that is not
+     * defined in the platform. Ideally, implementations of
+     * VehicleProperty#HANDS_ON_DETECTION_DRIVER_STATE should not use this state. The framework
+     * can use this field to remain backwards compatible if HandsOnDetectionDriverState is
+     * extended to include additional states.
+     */
+    OTHER = 0,
+    /**
+     * The system detects that the driver has their hands on the steering wheel.
+     */
+    HANDS_ON = 1,
+    /**
+     * The system detects that the driver has their hands off the steering wheel.
+     */
+    HANDS_OFF = 2,
+}
diff --git a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
index 68a1e32..9838489 100644
--- a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -3947,6 +3947,30 @@
             0x1016 + VehiclePropertyGroup.SYSTEM + VehicleArea.GLOBAL + VehiclePropertyType.BOOLEAN,
 
     /**
+     * Hands on detection (HOD) driver state.
+     *
+     * Returns whether the driver's hands are on the steering wheel. Generally, this property should
+     * return a valid state defined in the HandsOnDetectionDriverState or ErrorState. For example,
+     * if the feature is not available due to some temporary state, that information should be
+     * conveyed through ErrorState.
+     *
+     * If the vehicle wants to send a warning to the user because the driver's hands have been off
+     * the steering wheel for too long, the warning should be surfaced through
+     * HANDS_ON_DETECTION_WARNING.
+     *
+     * For the global area ID (0), the VehicleAreaConfig#supportedEnumValues array must be defined
+     * unless all states of both HandsOnDetectionDriverState (including OTHER, which is not
+     * recommended) and ErrorState are supported.
+     *
+     * @change_mode VehiclePropertyChangeMode.ON_CHANGE
+     * @access VehiclePropertyAccess.READ
+     * @data_enum HandsOnDetectionDriverState
+     * @data_enum ErrorState
+     */
+    HANDS_ON_DETECTION_DRIVER_STATE =
+            0x1017 + VehiclePropertyGroup.SYSTEM + VehicleArea.GLOBAL + VehiclePropertyType.INT32,
+
+    /**
      * Enable or disable driver attention monitoring.
      *
      * Set true to enable driver attention monitoring and false to disable driver attention
diff --git a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
index efbcf47..8ed79ee 100644
--- a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
+++ b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
@@ -540,6 +540,12 @@
                    VehicleArea::GLOBAL, VehiclePropertyType::BOOLEAN);
 }
 
+TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyHandsOnDetectionDriverStateConfig) {
+    verifyProperty(VehicleProperty::HANDS_ON_DETECTION_DRIVER_STATE, VehiclePropertyAccess::READ,
+                   VehiclePropertyChangeMode::ON_CHANGE, VehiclePropertyGroup::SYSTEM,
+                   VehicleArea::GLOBAL, VehiclePropertyType::INT32);
+}
+
 TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyDriverAttentionMonitoringEnabledConfig) {
     verifyProperty(VehicleProperty::DRIVER_ATTENTION_MONITORING_ENABLED,
                    VehiclePropertyAccess::READ_WRITE, VehiclePropertyChangeMode::ON_CHANGE,