diff --git a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
index 72bff22..3256257 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
@@ -265,6 +265,7 @@
         {VehicleProperty::CRUISE_CONTROL_COMMAND, VehiclePropertyAccess::WRITE},
         {VehicleProperty::HANDS_ON_DETECTION_ENABLED, VehiclePropertyAccess::READ_WRITE},
         {VehicleProperty::HANDS_ON_DETECTION_DRIVER_STATE, VehiclePropertyAccess::READ},
+        {VehicleProperty::HANDS_ON_DETECTION_WARNING, 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 7122019..3c7622d 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
@@ -265,6 +265,7 @@
         {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::HANDS_ON_DETECTION_WARNING, 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 2ed889e..7757ad8 100644
--- a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
@@ -257,6 +257,7 @@
         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.HANDS_ON_DETECTION_WARNING, 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 de3a8ae..2158950 100644
--- a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
@@ -257,6 +257,7 @@
         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.HANDS_ON_DETECTION_WARNING, 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 119d157..7249164 100644
--- a/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp
+++ b/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp
@@ -50,6 +50,7 @@
 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::HandsOnDetectionWarning;
 using ::aidl::android::hardware::automotive::vehicle::LaneCenteringAssistCommand;
 using ::aidl::android::hardware::automotive::vehicle::LaneCenteringAssistState;
 using ::aidl::android::hardware::automotive::vehicle::LaneDepartureWarningState;
@@ -233,6 +234,8 @@
             std::make_unique<ConstantParser<CruiseControlCommand>>();
     mConstantParsersByType["HandsOnDetectionDriverState"] =
             std::make_unique<ConstantParser<HandsOnDetectionDriverState>>();
+    mConstantParsersByType["HandsOnDetectionWarning"] =
+            std::make_unique<ConstantParser<HandsOnDetectionWarning>>();
     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 71af0e8..606d4d9 100644
--- a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
+++ b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
@@ -3234,6 +3234,24 @@
             ]
         },
         {
+            "property": "VehicleProperty::HANDS_ON_DETECTION_WARNING",
+            "defaultValue": {
+                "int32Values": [
+                    "HandsOnDetectionWarning::NO_WARNING"
+                ]
+            },
+            "areas": [
+                {
+                    "areaId": 0,
+                    "supportedEnumValues": [
+                        "ErrorState::NOT_AVAILABLE_DISABLED",
+                        "HandsOnDetectionWarning::NO_WARNING",
+                        "HandsOnDetectionWarning::WARNING"
+                    ]
+                }
+            ]
+        },
+        {
             "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 e0b9584..f70e028 100644
--- a/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
+++ b/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
@@ -37,6 +37,7 @@
 #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/HandsOnDetectionWarning.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/HandsOnDetectionWarning.aidl b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/HandsOnDetectionWarning.aidl
new file mode 100644
index 0000000..4ea4d1d
--- /dev/null
+++ b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/HandsOnDetectionWarning.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 HandsOnDetectionWarning {
+  OTHER = 0,
+  NO_WARNING = 1,
+  WARNING = 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 efcfd68..782c6aa 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
@@ -263,5 +263,6 @@
   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 */,
+  HANDS_ON_DETECTION_WARNING = (((0x1018 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32) /* 289411096 */,
   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/HandsOnDetectionWarning.aidl b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/HandsOnDetectionWarning.aidl
new file mode 100644
index 0000000..c1a58ce
--- /dev/null
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/HandsOnDetectionWarning.aidl
@@ -0,0 +1,43 @@
+/*
+ * 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 warning state of Hands On Detection (HOD).
+ */
+@VintfStability
+@Backing(type="int")
+enum HandsOnDetectionWarning {
+    /**
+     * This state is used as an alternative for any HandsOnDetectionWarning value that is
+     * defined in the platform. Ideally, implementations of
+     * VehicleProperty#HANDS_ON_DETECTION_WARNING should not use this state. The framework
+     * can use this field to remain backwards compatible if HandsOnDetectionWarning is
+     * extended to include additional states.
+     */
+    OTHER = 0,
+    /**
+     * HOD is enabled and the driver's current safety does not warrant sending a warning. This
+     * state is independent of whether the driver actually has their hands on or off the wheel.
+     */
+    NO_WARNING = 1,
+    /**
+     * HOD is enabled and the driver's hands have been off the wheel for too long a duration,
+     * and the vehicle is sending a warning to the driver as a consequence of this.
+     */
+    WARNING = 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 9838489..aa1cc3c 100644
--- a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -3971,6 +3971,28 @@
             0x1017 + VehiclePropertyGroup.SYSTEM + VehicleArea.GLOBAL + VehiclePropertyType.INT32,
 
     /**
+     * Hands on detection (HOD) warning.
+     *
+     * Returns whether a warning is being sent to the driver for having their hands off the wheel
+     * for too long a duration.
+     *
+     * Generally, this property should return a valid state defined in HandsOnDetectionWarning or
+     * ErrorState. For example, if the feature is not available due to some temporary state, that
+     * information should be conveyed through an ErrorState.
+     *
+     * For the global area ID (0), the VehicleAreaConfig#supportedEnumValues array must be defined
+     * unless all states of both HandsOnDetectionWarning (including OTHER, which is not recommended)
+     * and ErrorState are supported.
+     *
+     * @change_mode VehiclePropertyChangeMode.ON_CHANGE
+     * @access VehiclePropertyAccess.READ
+     * @data_enum HandsOnDetectionWarning
+     * @data_enum ErrorState
+     */
+    HANDS_ON_DETECTION_WARNING =
+            0x1018 + 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 8ed79ee..8e2c900 100644
--- a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
+++ b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
@@ -546,6 +546,12 @@
                    VehicleArea::GLOBAL, VehiclePropertyType::INT32);
 }
 
+TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyHandsOnDetectionWarningConfig) {
+    verifyProperty(VehicleProperty::HANDS_ON_DETECTION_WARNING, 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,