diff --git a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
index 36fc459..4d3ae86 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
@@ -203,6 +203,7 @@
         {VehicleProperty::ULTRASONICS_SENSOR_FIELD_OF_VIEW, VehiclePropertyAccess::READ},
         {VehicleProperty::ULTRASONICS_SENSOR_DETECTION_RANGE, VehiclePropertyAccess::READ},
         {VehicleProperty::ULTRASONICS_SENSOR_SUPPORTED_RANGES, VehiclePropertyAccess::READ},
+        {VehicleProperty::ULTRASONICS_SENSOR_MEASURED_DISTANCE, VehiclePropertyAccess::READ},
         {VehicleProperty::OBD2_LIVE_FRAME, VehiclePropertyAccess::READ},
         {VehicleProperty::OBD2_FREEZE_FRAME, VehiclePropertyAccess::READ},
         {VehicleProperty::OBD2_FREEZE_FRAME_INFO, VehiclePropertyAccess::READ},
diff --git a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
index 0e05cff..19ae5bc 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
@@ -203,6 +203,7 @@
         {VehicleProperty::ULTRASONICS_SENSOR_FIELD_OF_VIEW, VehiclePropertyChangeMode::STATIC},
         {VehicleProperty::ULTRASONICS_SENSOR_DETECTION_RANGE, VehiclePropertyChangeMode::STATIC},
         {VehicleProperty::ULTRASONICS_SENSOR_SUPPORTED_RANGES, VehiclePropertyChangeMode::STATIC},
+        {VehicleProperty::ULTRASONICS_SENSOR_MEASURED_DISTANCE, VehiclePropertyChangeMode::CONTINUOUS},
         {VehicleProperty::OBD2_LIVE_FRAME, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::OBD2_FREEZE_FRAME, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::OBD2_FREEZE_FRAME_INFO, VehiclePropertyChangeMode::ON_CHANGE},
diff --git a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
index f274612..4cfb178 100644
--- a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
@@ -195,6 +195,7 @@
         Map.entry(VehicleProperty.ULTRASONICS_SENSOR_FIELD_OF_VIEW, VehiclePropertyAccess.READ),
         Map.entry(VehicleProperty.ULTRASONICS_SENSOR_DETECTION_RANGE, VehiclePropertyAccess.READ),
         Map.entry(VehicleProperty.ULTRASONICS_SENSOR_SUPPORTED_RANGES, VehiclePropertyAccess.READ),
+        Map.entry(VehicleProperty.ULTRASONICS_SENSOR_MEASURED_DISTANCE, VehiclePropertyAccess.READ),
         Map.entry(VehicleProperty.OBD2_LIVE_FRAME, VehiclePropertyAccess.READ),
         Map.entry(VehicleProperty.OBD2_FREEZE_FRAME, VehiclePropertyAccess.READ),
         Map.entry(VehicleProperty.OBD2_FREEZE_FRAME_INFO, VehiclePropertyAccess.READ),
diff --git a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
index 24860f5..f42fa1d 100644
--- a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
@@ -195,6 +195,7 @@
         Map.entry(VehicleProperty.ULTRASONICS_SENSOR_FIELD_OF_VIEW, VehiclePropertyChangeMode.STATIC),
         Map.entry(VehicleProperty.ULTRASONICS_SENSOR_DETECTION_RANGE, VehiclePropertyChangeMode.STATIC),
         Map.entry(VehicleProperty.ULTRASONICS_SENSOR_SUPPORTED_RANGES, VehiclePropertyChangeMode.STATIC),
+        Map.entry(VehicleProperty.ULTRASONICS_SENSOR_MEASURED_DISTANCE, VehiclePropertyChangeMode.CONTINUOUS),
         Map.entry(VehicleProperty.OBD2_LIVE_FRAME, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.OBD2_FREEZE_FRAME, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.OBD2_FREEZE_FRAME_INFO, VehiclePropertyChangeMode.ON_CHANGE),
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 1f69a52..517860c 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
@@ -201,6 +201,7 @@
   ULTRASONICS_SENSOR_FIELD_OF_VIEW = (((0x0C22 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.VENDOR) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32_VEC) /* 406916130 */,
   ULTRASONICS_SENSOR_DETECTION_RANGE = (((0x0C23 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.VENDOR) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32_VEC) /* 406916131 */,
   ULTRASONICS_SENSOR_SUPPORTED_RANGES = (((0x0C24 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.VENDOR) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32_VEC) /* 406916132 */,
+  ULTRASONICS_SENSOR_MEASURED_DISTANCE = (((0x0C25 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.VENDOR) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32_VEC) /* 406916133 */,
   OBD2_LIVE_FRAME = (((0x0D00 + 0x10000000) + 0x01000000) + 0x00e00000) /* 299896064 */,
   OBD2_FREEZE_FRAME = (((0x0D01 + 0x10000000) + 0x01000000) + 0x00e00000) /* 299896065 */,
   OBD2_FREEZE_FRAME_INFO = (((0x0D02 + 0x10000000) + 0x01000000) + 0x00e00000) /* 299896066 */,
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 83fde0e..5ff0a2e 100644
--- a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -3455,6 +3455,32 @@
             + VehiclePropertyType.INT32_VEC,
 
     /**
+     * The distance reading of the nearest detected object per sensor in millimeters.
+     *
+     * Each individual sensor is identified by its VehicleAreaConfig#areaId and returns the sensor's
+     * measured distance formatted as [distance, distance_error] where:
+     *
+     *     int32Values[0] = distance, the measured distance of the nearest object in millimeters.
+     *                      If only a range is supported, this value must be set to the minimum
+     *                      supported distance in the detected range as specified in
+     *                      ULTRASONICS_SENSOR_SUPPORTED_RANGES.
+     *     int32Values[1] = distance_error, the error of the measured distance value in
+     *                      millimeters.
+     *
+     * If no object is detected, an empty vector must be returned. If distance_error is not
+     * available then an array of only the measured distance must be returned.
+     *
+     * If the data is aggregated by another ECU, then OEMs have the option of reporting the same
+     * reading across all included sensors or reporting a virtual representation of all the included
+     * sensors as if they were one sensor.
+     *
+     * @change_mode VehiclePropertyChangeMode.CONTINUOUS
+     * @access VehiclePropertyAccess.READ
+     */
+    ULTRASONICS_SENSOR_MEASURED_DISTANCE = 0x0C25 + VehiclePropertyGroup.SYSTEM + VehicleArea.VENDOR
+            + VehiclePropertyType.INT32_VEC,
+
+    /**
      * OBD2 Live Sensor Data
      *
      * Reports a snapshot of the current (live) values of the OBD2 sensors available.
diff --git a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
index ab2e4e7..737e008 100644
--- a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
+++ b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
@@ -579,6 +579,13 @@
                    VehiclePropertyType::INT32_VEC);
 }
 
+TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyUltrasonicsSensorMeasuredDistanceConfig) {
+    verifyProperty(VehicleProperty::ULTRASONICS_SENSOR_MEASURED_DISTANCE,
+                   VehiclePropertyAccess::READ, VehiclePropertyChangeMode::CONTINUOUS,
+                   VehiclePropertyGroup::SYSTEM, VehicleArea::VENDOR,
+                   VehiclePropertyType::INT32_VEC);
+}
+
 TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyEmergencyLaneKeepAssistEnabledConfig) {
     verifyProperty(VehicleProperty::EMERGENCY_LANE_KEEP_ASSIST_ENABLED,
                    VehiclePropertyAccess::READ_WRITE, VehiclePropertyChangeMode::ON_CHANGE,