diff --git a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
index 574f8bd..884fd14 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
@@ -266,6 +266,7 @@
         {VehicleProperty::CRUISE_CONTROL_STATE, VehiclePropertyAccess::READ},
         {VehicleProperty::CRUISE_CONTROL_COMMAND, VehiclePropertyAccess::WRITE},
         {VehicleProperty::CRUISE_CONTROL_TARGET_SPEED, VehiclePropertyAccess::READ},
+        {VehicleProperty::ADAPTIVE_CRUISE_CONTROL_TARGET_TIME_GAP, VehiclePropertyAccess::READ_WRITE},
         {VehicleProperty::HANDS_ON_DETECTION_ENABLED, VehiclePropertyAccess::READ_WRITE},
         {VehicleProperty::HANDS_ON_DETECTION_DRIVER_STATE, VehiclePropertyAccess::READ},
         {VehicleProperty::HANDS_ON_DETECTION_WARNING, VehiclePropertyAccess::READ},
diff --git a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
index 9a2f8a3..dbb10f7 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
@@ -266,6 +266,7 @@
         {VehicleProperty::CRUISE_CONTROL_STATE, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::CRUISE_CONTROL_COMMAND, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::CRUISE_CONTROL_TARGET_SPEED, VehiclePropertyChangeMode::ON_CHANGE},
+        {VehicleProperty::ADAPTIVE_CRUISE_CONTROL_TARGET_TIME_GAP, 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},
diff --git a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
index d993860..ecd2058 100644
--- a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
@@ -258,6 +258,7 @@
         Map.entry(VehicleProperty.CRUISE_CONTROL_STATE, VehiclePropertyAccess.READ),
         Map.entry(VehicleProperty.CRUISE_CONTROL_COMMAND, VehiclePropertyAccess.WRITE),
         Map.entry(VehicleProperty.CRUISE_CONTROL_TARGET_SPEED, VehiclePropertyAccess.READ),
+        Map.entry(VehicleProperty.ADAPTIVE_CRUISE_CONTROL_TARGET_TIME_GAP, VehiclePropertyAccess.READ_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),
diff --git a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
index daa6a87..ca95842 100644
--- a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
@@ -258,6 +258,7 @@
         Map.entry(VehicleProperty.CRUISE_CONTROL_STATE, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.CRUISE_CONTROL_COMMAND, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.CRUISE_CONTROL_TARGET_SPEED, VehiclePropertyChangeMode.ON_CHANGE),
+        Map.entry(VehicleProperty.ADAPTIVE_CRUISE_CONTROL_TARGET_TIME_GAP, 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),
diff --git a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
index 774ff4f..ba844cb 100644
--- a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
+++ b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
@@ -3264,6 +3264,22 @@
             ]
         },
         {
+            "property": "VehicleProperty::ADAPTIVE_CRUISE_CONTROL_TARGET_TIME_GAP",
+            "defaultValue": {
+                "int32Values": [
+                    1200
+                ]
+            },
+            "configArray": [
+                1200,
+                1400,
+                1600,
+                1800,
+                2000,
+                2200
+            ]
+        },
+        {
             "property": "VehicleProperty::HANDS_ON_DETECTION_ENABLED",
             "defaultValue": {
                 "int32Values": [
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 70eb5d3..116099f 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
@@ -264,6 +264,7 @@
   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 */,
   CRUISE_CONTROL_TARGET_SPEED = (((0x1013 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.FLOAT) /* 291508243 */,
+  ADAPTIVE_CRUISE_CONTROL_TARGET_TIME_GAP = (((0x1014 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32) /* 289411092 */,
   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 */,
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 d4b02a2..e91b06b 100644
--- a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -4015,6 +4015,28 @@
             0x1013 + VehiclePropertyGroup.SYSTEM + VehicleArea.GLOBAL + VehiclePropertyType.FLOAT,
 
     /**
+     * Current target time gap for Adaptive Cruise Control (ACC) or Predictive Cruise Control in
+     * milliseconds.
+     *
+     * This property should specify the target time gap to a leading vehicle. This gap is defined as
+     * the time to travel the distance between the leading vehicle's rear-most point to the ACC
+     * vehicle's front-most point. The actual time gap from a leading vehicle can be above or below
+     * this value.
+     *
+     * The possible values to set for the target time gap should be specified in configArray in
+     * ascending order. All values must be positive. If the property is writable, all values must be
+     * writable.
+     *
+     * Writing to this property when it is not available should return StatusCode.NOT_AVAILABLE.
+     *
+     * @change_mode VehiclePropertyChangeMode.ON_CHANGE
+     * @access VehiclePropertyAccess.READ_WRITE
+     * @unit VehicleUnit:MILLI_SECS
+     */
+    ADAPTIVE_CRUISE_CONTROL_TARGET_TIME_GAP =
+            0x1014 + VehiclePropertyGroup.SYSTEM + VehicleArea.GLOBAL + VehiclePropertyType.INT32,
+
+    /**
      * Enable or disable hands on detection (HOD).
      *
      * Set true to enable HOD and false to disable HOD. When HOD is enabled, a system inside the
diff --git a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
index ad3f277..3170a19 100644
--- a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
+++ b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
@@ -540,6 +540,12 @@
                    VehicleArea::GLOBAL, VehiclePropertyType::FLOAT);
 }
 
+TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyAdaptiveCruiseControlTargetTimeGapConfig) {
+    verifyProperty(VehicleProperty::ADAPTIVE_CRUISE_CONTROL_TARGET_TIME_GAP,
+                   VehiclePropertyAccess::READ_WRITE, VehiclePropertyChangeMode::ON_CHANGE,
+                   VehiclePropertyGroup::SYSTEM, VehicleArea::GLOBAL, VehiclePropertyType::INT32);
+}
+
 TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyHandsOnDetectionEnabledConfig) {
     verifyProperty(VehicleProperty::HANDS_ON_DETECTION_ENABLED, VehiclePropertyAccess::READ_WRITE,
                    VehiclePropertyChangeMode::ON_CHANGE, VehiclePropertyGroup::SYSTEM,