diff --git a/automotive/Android.bp b/automotive/Android.bp
index aa8f74f..0302cd5 100644
--- a/automotive/Android.bp
+++ b/automotive/Android.bp
@@ -2,4 +2,5 @@
 subdirs = [
     "vehicle",
     "vehicle/2.0",
+    "vehicle/2.1",
 ]
diff --git a/automotive/vehicle/2.0/default/Android.mk b/automotive/vehicle/2.0/default/Android.mk
index c394f2e..324be51 100644
--- a/automotive/vehicle/2.0/default/Android.mk
+++ b/automotive/vehicle/2.0/default/Android.mk
@@ -14,20 +14,26 @@
 
 LOCAL_PATH := $(call my-dir)
 
-module_prefix = android.hardware.automotive.vehicle@2.0
+vhal_v2_0 = android.hardware.automotive.vehicle@2.0
 
 ###############################################################################
 # Vehicle reference implementation lib
 ###############################################################################
 include $(CLEAR_VARS)
-LOCAL_MODULE := $(module_prefix)-manager-lib
+LOCAL_MODULE := $(vhal_v2_0)-manager-lib
 LOCAL_SRC_FILES := \
-    vehicle_hal_manager/AccessControlConfigParser.cpp \
-    vehicle_hal_manager/Obd2SensorStore.cpp \
-    vehicle_hal_manager/SubscriptionManager.cpp \
-    vehicle_hal_manager/VehicleHalManager.cpp \
-    vehicle_hal_manager/VehicleObjectPool.cpp \
-    vehicle_hal_manager/VehicleUtils.cpp \
+    common/src/AccessControlConfigParser.cpp \
+    common/src/Obd2SensorStore.cpp \
+    common/src/SubscriptionManager.cpp \
+    common/src/VehicleHalManager.cpp \
+    common/src/VehicleObjectPool.cpp \
+    common/src/VehicleUtils.cpp \
+
+LOCAL_C_INCLUDES := \
+    $(LOCAL_PATH)/common/include/vhal_v2_0
+
+LOCAL_EXPORT_C_INCLUDE_DIRS := \
+    $(LOCAL_PATH)/common/include
 
 LOCAL_SHARED_LIBRARIES := \
     libbinder \
@@ -36,7 +42,7 @@
     libhwbinder \
     liblog \
     libutils \
-    $(module_prefix) \
+    $(vhal_v2_0) \
 
 include $(BUILD_STATIC_LIBRARY)
 
@@ -44,11 +50,11 @@
 # Vehicle HAL Protobuf library
 ###############################################################################
 include $(CLEAR_VARS)
-LOCAL_SRC_FILES := $(call all-proto-files-under, impl/proto)
+LOCAL_SRC_FILES := $(call all-proto-files-under, impl/vhal_v2_0/proto)
 
 LOCAL_PROTOC_OPTIMIZE_TYPE := nano
 
-LOCAL_MODULE := $(module_prefix)-libproto-native
+LOCAL_MODULE := $(vhal_v2_0)-libproto-native
 LOCAL_MODULE_CLASS := STATIC_LIBRARIES
 
 LOCAL_MODULE_TAGS := optional
@@ -57,7 +63,7 @@
 
 generated_sources_dir := $(call local-generated-sources-dir)
 LOCAL_EXPORT_C_INCLUDE_DIRS := \
-    $(generated_sources_dir)/proto/$(LOCAL_PATH)/impl/proto
+    $(generated_sources_dir)/proto/$(LOCAL_PATH)/impl/vhal_v2_0/proto
 
 include $(BUILD_STATIC_LIBRARY)
 
@@ -67,9 +73,18 @@
 ###############################################################################
 include $(CLEAR_VARS)
 
-LOCAL_MODULE:= $(module_prefix)-default-impl-lib
+LOCAL_MODULE:= $(vhal_v2_0)-default-impl-lib
 LOCAL_SRC_FILES:= \
-    impl/DefaultVehicleHal.cpp \
+    impl/vhal_v2_0/DefaultVehicleHal.cpp \
+
+LOCAL_C_INCLUDES := \
+    $(LOCAL_PATH)/impl/vhal_v2_0
+
+LOCAL_EXPORT_C_INCLUDE_DIRS := \
+    $(LOCAL_PATH)/impl
+
+LOCAL_WHOLE_STATIC_LIBRARIES := \
+    $(vhal_v2_0)-manager-lib \
 
 LOCAL_SHARED_LIBRARIES := \
     libbinder \
@@ -79,10 +94,10 @@
     liblog \
     libprotobuf-cpp-lite \
     libutils \
-    $(module_prefix) \
+    $(vhal_v2_0) \
 
 LOCAL_STATIC_LIBRARIES := \
-    $(module_prefix)-libproto-native
+    $(vhal_v2_0)-libproto-native \
 
 include $(BUILD_STATIC_LIBRARY)
 
@@ -92,9 +107,10 @@
 ###############################################################################
 include $(CLEAR_VARS)
 
-LOCAL_MODULE:= $(module_prefix)-manager-unit-tests
+LOCAL_MODULE:= $(vhal_v2_0)-manager-unit-tests
 
-LOCAL_WHOLE_STATIC_LIBRARIES := $(module_prefix)-manager-lib
+LOCAL_WHOLE_STATIC_LIBRARIES := \
+    $(vhal_v2_0)-manager-lib \
 
 LOCAL_SRC_FILES:= \
     tests/AccessControlConfigParser_test.cpp \
@@ -111,7 +127,7 @@
     libhwbinder \
     liblog \
     libutils \
-    $(module_prefix) \
+    $(vhal_v2_0) \
 
 LOCAL_CFLAGS += -Wall -Wextra
 LOCAL_MODULE_TAGS := tests
@@ -123,18 +139,14 @@
 # Vehicle HAL service
 ###############################################################################
 include $(CLEAR_VARS)
-LOCAL_MODULE := $(module_prefix)-service
-LOCAL_INIT_RC := $(module_prefix)-service.rc
+LOCAL_MODULE := $(vhal_v2_0)-service
+LOCAL_INIT_RC := $(vhal_v2_0)-service.rc
 LOCAL_PROPRIETARY_MODULE := true
 LOCAL_MODULE_RELATIVE_PATH := hw
 
 LOCAL_SRC_FILES := \
     VehicleService.cpp
 
-LOCAL_WHOLE_STATIC_LIBRARIES := \
-    $(module_prefix)-manager-lib \
-    $(module_prefix)-default-impl-lib \
-
 LOCAL_SHARED_LIBRARIES := \
     libbinder \
     libhidlbase \
@@ -143,9 +155,11 @@
     liblog \
     libprotobuf-cpp-lite \
     libutils \
-    $(module_prefix) \
+    $(vhal_v2_0) \
 
 LOCAL_STATIC_LIBRARIES := \
-    $(module_prefix)-libproto-native
+    $(vhal_v2_0)-manager-lib \
+    $(vhal_v2_0)-default-impl-lib \
+    $(vhal_v2_0)-libproto-native \
 
 include $(BUILD_EXECUTABLE)
diff --git a/automotive/vehicle/2.0/default/VehicleService.cpp b/automotive/vehicle/2.0/default/VehicleService.cpp
index 345dbcc..f88ce7b 100644
--- a/automotive/vehicle/2.0/default/VehicleService.cpp
+++ b/automotive/vehicle/2.0/default/VehicleService.cpp
@@ -20,9 +20,8 @@
 
 #include <iostream>
 
-
-#include <vehicle_hal_manager/VehicleHalManager.h>
-#include <impl/DefaultVehicleHal.h>
+#include <vhal_v2_0/VehicleHalManager.h>
+#include <vhal_v2_0/DefaultVehicleHal.h>
 
 using namespace android;
 using namespace android::hardware;
diff --git a/automotive/vehicle/2.0/default/vehicle_hal_manager/AccessControlConfigParser.h b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/AccessControlConfigParser.h
similarity index 100%
rename from automotive/vehicle/2.0/default/vehicle_hal_manager/AccessControlConfigParser.h
rename to automotive/vehicle/2.0/default/common/include/vhal_v2_0/AccessControlConfigParser.h
diff --git a/automotive/vehicle/2.0/default/vehicle_hal_manager/ConcurrentQueue.h b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/ConcurrentQueue.h
similarity index 100%
rename from automotive/vehicle/2.0/default/vehicle_hal_manager/ConcurrentQueue.h
rename to automotive/vehicle/2.0/default/common/include/vhal_v2_0/ConcurrentQueue.h
diff --git a/automotive/vehicle/2.0/default/vehicle_hal_manager/Obd2SensorStore.h b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/Obd2SensorStore.h
similarity index 98%
rename from automotive/vehicle/2.0/default/vehicle_hal_manager/Obd2SensorStore.h
rename to automotive/vehicle/2.0/default/common/include/vhal_v2_0/Obd2SensorStore.h
index 3e2a08e..fe231be 100644
--- a/automotive/vehicle/2.0/default/vehicle_hal_manager/Obd2SensorStore.h
+++ b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/Obd2SensorStore.h
@@ -19,7 +19,7 @@
 
 #include <vector>
 
-#include <VehicleHal.h>
+#include "VehicleHal.h"
 
 namespace android {
 namespace hardware {
diff --git a/automotive/vehicle/2.0/default/vehicle_hal_manager/SubscriptionManager.h b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/SubscriptionManager.h
similarity index 100%
rename from automotive/vehicle/2.0/default/vehicle_hal_manager/SubscriptionManager.h
rename to automotive/vehicle/2.0/default/common/include/vhal_v2_0/SubscriptionManager.h
diff --git a/automotive/vehicle/2.0/default/VehicleHal.h b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleHal.h
similarity index 98%
rename from automotive/vehicle/2.0/default/VehicleHal.h
rename to automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleHal.h
index 76df5b8..8203a1e 100644
--- a/automotive/vehicle/2.0/default/VehicleHal.h
+++ b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleHal.h
@@ -18,8 +18,7 @@
 #define android_hardware_automotive_vehicle_V2_0_VehicleHal_H
 
 #include <android/hardware/automotive/vehicle/2.0/IVehicle.h>
-#include "vehicle_hal_manager/VehicleObjectPool.h"
-
+#include "VehicleObjectPool.h"
 
 namespace android {
 namespace hardware {
diff --git a/automotive/vehicle/2.0/default/vehicle_hal_manager/VehicleHalManager.h b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleHalManager.h
similarity index 100%
rename from automotive/vehicle/2.0/default/vehicle_hal_manager/VehicleHalManager.h
rename to automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleHalManager.h
diff --git a/automotive/vehicle/2.0/default/vehicle_hal_manager/VehicleObjectPool.h b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleObjectPool.h
similarity index 100%
rename from automotive/vehicle/2.0/default/vehicle_hal_manager/VehicleObjectPool.h
rename to automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleObjectPool.h
diff --git a/automotive/vehicle/2.0/default/vehicle_hal_manager/VehiclePropConfigIndex.h b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehiclePropConfigIndex.h
similarity index 100%
rename from automotive/vehicle/2.0/default/vehicle_hal_manager/VehiclePropConfigIndex.h
rename to automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehiclePropConfigIndex.h
diff --git a/automotive/vehicle/2.0/default/vehicle_hal_manager/VehicleUtils.h b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleUtils.h
similarity index 100%
rename from automotive/vehicle/2.0/default/vehicle_hal_manager/VehicleUtils.h
rename to automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehicleUtils.h
diff --git a/automotive/vehicle/2.0/default/vehicle_hal_manager/AccessControlConfigParser.cpp b/automotive/vehicle/2.0/default/common/src/AccessControlConfigParser.cpp
similarity index 100%
rename from automotive/vehicle/2.0/default/vehicle_hal_manager/AccessControlConfigParser.cpp
rename to automotive/vehicle/2.0/default/common/src/AccessControlConfigParser.cpp
diff --git a/automotive/vehicle/2.0/default/vehicle_hal_manager/Obd2SensorStore.cpp b/automotive/vehicle/2.0/default/common/src/Obd2SensorStore.cpp
similarity index 98%
rename from automotive/vehicle/2.0/default/vehicle_hal_manager/Obd2SensorStore.cpp
rename to automotive/vehicle/2.0/default/common/src/Obd2SensorStore.cpp
index 761e550..4ee0a71 100644
--- a/automotive/vehicle/2.0/default/vehicle_hal_manager/Obd2SensorStore.cpp
+++ b/automotive/vehicle/2.0/default/common/src/Obd2SensorStore.cpp
@@ -17,7 +17,7 @@
 #include "Obd2SensorStore.h"
 
 #include <utils/SystemClock.h>
-#include <vehicle_hal_manager/VehicleUtils.h>
+#include "VehicleUtils.h"
 
 namespace android {
 namespace hardware {
diff --git a/automotive/vehicle/2.0/default/vehicle_hal_manager/SubscriptionManager.cpp b/automotive/vehicle/2.0/default/common/src/SubscriptionManager.cpp
similarity index 100%
rename from automotive/vehicle/2.0/default/vehicle_hal_manager/SubscriptionManager.cpp
rename to automotive/vehicle/2.0/default/common/src/SubscriptionManager.cpp
diff --git a/automotive/vehicle/2.0/default/vehicle_hal_manager/VehicleHalManager.cpp b/automotive/vehicle/2.0/default/common/src/VehicleHalManager.cpp
similarity index 100%
rename from automotive/vehicle/2.0/default/vehicle_hal_manager/VehicleHalManager.cpp
rename to automotive/vehicle/2.0/default/common/src/VehicleHalManager.cpp
diff --git a/automotive/vehicle/2.0/default/vehicle_hal_manager/VehicleObjectPool.cpp b/automotive/vehicle/2.0/default/common/src/VehicleObjectPool.cpp
similarity index 100%
rename from automotive/vehicle/2.0/default/vehicle_hal_manager/VehicleObjectPool.cpp
rename to automotive/vehicle/2.0/default/common/src/VehicleObjectPool.cpp
diff --git a/automotive/vehicle/2.0/default/vehicle_hal_manager/VehicleUtils.cpp b/automotive/vehicle/2.0/default/common/src/VehicleUtils.cpp
similarity index 100%
rename from automotive/vehicle/2.0/default/vehicle_hal_manager/VehicleUtils.cpp
rename to automotive/vehicle/2.0/default/common/src/VehicleUtils.cpp
diff --git a/automotive/vehicle/2.0/default/impl/DefaultConfig.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
similarity index 98%
rename from automotive/vehicle/2.0/default/impl/DefaultConfig.h
rename to automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
index 0c549b9..ec08a43 100644
--- a/automotive/vehicle/2.0/default/impl/DefaultConfig.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
@@ -18,7 +18,7 @@
 #define android_hardware_automotive_vehicle_V2_0_impl_DefaultConfig_H_
 
 #include <android/hardware/automotive/vehicle/2.0/IVehicle.h>
-#include <vehicle_hal_manager/VehicleUtils.h>
+#include <vhal_v2_0/VehicleUtils.h>
 
 namespace android {
 namespace hardware {
diff --git a/automotive/vehicle/2.0/default/impl/DefaultVehicleHal.cpp b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultVehicleHal.cpp
similarity index 100%
rename from automotive/vehicle/2.0/default/impl/DefaultVehicleHal.cpp
rename to automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultVehicleHal.cpp
diff --git a/automotive/vehicle/2.0/default/impl/DefaultVehicleHal.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultVehicleHal.h
similarity index 97%
rename from automotive/vehicle/2.0/default/impl/DefaultVehicleHal.h
rename to automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultVehicleHal.h
index 4b89f55..51f7ba3 100644
--- a/automotive/vehicle/2.0/default/impl/DefaultVehicleHal.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultVehicleHal.h
@@ -18,15 +18,16 @@
 #define android_hardware_automotive_vehicle_V2_0_impl_DefaultVehicleHal_H_
 
 #include <memory>
-
-#include <VehicleHal.h>
-#include <impl/DefaultConfig.h>
 #include <sys/socket.h>
 #include <thread>
-#include <utils/SystemClock.h>
-#include <vehicle_hal_manager/Obd2SensorStore.h>
-#include "VehicleHalProto.pb.h"
 
+#include <utils/SystemClock.h>
+
+#include <vhal_v2_0/VehicleHal.h>
+#include <vhal_v2_0/Obd2SensorStore.h>
+
+#include "DefaultConfig.h"
+#include "VehicleHalProto.pb.h"
 
 namespace android {
 namespace hardware {
diff --git a/automotive/vehicle/2.0/default/impl/proto/VehicleHalProto.proto b/automotive/vehicle/2.0/default/impl/vhal_v2_0/proto/VehicleHalProto.proto
similarity index 100%
rename from automotive/vehicle/2.0/default/impl/proto/VehicleHalProto.proto
rename to automotive/vehicle/2.0/default/impl/vhal_v2_0/proto/VehicleHalProto.proto
diff --git a/automotive/vehicle/2.0/default/tests/AccessControlConfigParser_test.cpp b/automotive/vehicle/2.0/default/tests/AccessControlConfigParser_test.cpp
index 6922b86..d9611c0 100644
--- a/automotive/vehicle/2.0/default/tests/AccessControlConfigParser_test.cpp
+++ b/automotive/vehicle/2.0/default/tests/AccessControlConfigParser_test.cpp
@@ -19,8 +19,8 @@
 #include <fstream>
 #include <unordered_set>
 
-#include "vehicle_hal_manager/AccessControlConfigParser.h"
-#include <vehicle_hal_manager/VehicleUtils.h>
+#include "vhal_v2_0/AccessControlConfigParser.h"
+#include "vhal_v2_0/VehicleUtils.h"
 
 namespace android {
 namespace hardware {
diff --git a/automotive/vehicle/2.0/default/tests/Obd2SensorStore_test.cpp b/automotive/vehicle/2.0/default/tests/Obd2SensorStore_test.cpp
index 3ebebbd..a01c0f4 100644
--- a/automotive/vehicle/2.0/default/tests/Obd2SensorStore_test.cpp
+++ b/automotive/vehicle/2.0/default/tests/Obd2SensorStore_test.cpp
@@ -16,8 +16,8 @@
 
  #include <gtest/gtest.h>
 
-#include "vehicle_hal_manager/Obd2SensorStore.h"
-#include "vehicle_hal_manager/VehicleUtils.h"
+#include "vhal_v2_0/Obd2SensorStore.h"
+#include "vhal_v2_0/VehicleUtils.h"
 
 namespace android {
 namespace hardware {
diff --git a/automotive/vehicle/2.0/default/tests/SubscriptionManager_test.cpp b/automotive/vehicle/2.0/default/tests/SubscriptionManager_test.cpp
index c6c6add..e13d003 100644
--- a/automotive/vehicle/2.0/default/tests/SubscriptionManager_test.cpp
+++ b/automotive/vehicle/2.0/default/tests/SubscriptionManager_test.cpp
@@ -19,7 +19,7 @@
 
 #include <gtest/gtest.h>
 
-#include "vehicle_hal_manager/SubscriptionManager.h"
+#include "vhal_v2_0/SubscriptionManager.h"
 
 #include "VehicleHalTestUtils.h"
 
diff --git a/automotive/vehicle/2.0/default/tests/VehicleHalManager_test.cpp b/automotive/vehicle/2.0/default/tests/VehicleHalManager_test.cpp
index 274a843..f637344 100644
--- a/automotive/vehicle/2.0/default/tests/VehicleHalManager_test.cpp
+++ b/automotive/vehicle/2.0/default/tests/VehicleHalManager_test.cpp
@@ -21,7 +21,7 @@
 
 #include <gtest/gtest.h>
 
-#include "vehicle_hal_manager/VehicleHalManager.h"
+#include "vhal_v2_0/VehicleHalManager.h"
 
 #include "VehicleHalTestUtils.h"
 
diff --git a/automotive/vehicle/2.0/default/tests/VehicleHalTestUtils.h b/automotive/vehicle/2.0/default/tests/VehicleHalTestUtils.h
index 8ba36d8..ce1ed7d 100644
--- a/automotive/vehicle/2.0/default/tests/VehicleHalTestUtils.h
+++ b/automotive/vehicle/2.0/default/tests/VehicleHalTestUtils.h
@@ -18,10 +18,11 @@
 #define android_hardware_automotive_vehicle_V2_0_VehicleDebugUtils_H_
 
 #include <android/hardware/automotive/vehicle/2.0/types.h>
-#include <vehicle_hal_manager/VehicleUtils.h>
 #include <ios>
 #include <sstream>
 
+#include "vhal_v2_0/VehicleUtils.h"
+
 namespace android {
 namespace hardware {
 namespace automotive {
diff --git a/automotive/vehicle/2.0/default/tests/VehicleObjectPool_test.cpp b/automotive/vehicle/2.0/default/tests/VehicleObjectPool_test.cpp
index 7d37355..a291351 100644
--- a/automotive/vehicle/2.0/default/tests/VehicleObjectPool_test.cpp
+++ b/automotive/vehicle/2.0/default/tests/VehicleObjectPool_test.cpp
@@ -20,7 +20,7 @@
 
 #include <utils/SystemClock.h>
 
-#include "vehicle_hal_manager/VehicleObjectPool.h"
+#include "vhal_v2_0/VehicleObjectPool.h"
 
 namespace android {
 namespace hardware {
diff --git a/automotive/vehicle/2.0/default/tests/VehiclePropConfigIndex_test.cpp b/automotive/vehicle/2.0/default/tests/VehiclePropConfigIndex_test.cpp
index fad4ab3..0f65820 100644
--- a/automotive/vehicle/2.0/default/tests/VehiclePropConfigIndex_test.cpp
+++ b/automotive/vehicle/2.0/default/tests/VehiclePropConfigIndex_test.cpp
@@ -16,7 +16,7 @@
 
 #include <gtest/gtest.h>
 
-#include "vehicle_hal_manager/VehiclePropConfigIndex.h"
+#include "vhal_v2_0/VehiclePropConfigIndex.h"
 
 #include "VehicleHalTestUtils.h"
 
diff --git a/automotive/vehicle/2.0/types.hal b/automotive/vehicle/2.0/types.hal
index 68a8a17..5e22364 100644
--- a/automotive/vehicle/2.0/types.hal
+++ b/automotive/vehicle/2.0/types.hal
@@ -226,28 +226,6 @@
         | VehicleArea:GLOBAL),
 
     /*
-     * Reports wheel rotational distance in meters since last wheel tick
-     * event
-     *
-     * The value is a vector each element represents distance for individual
-     * wheel in the following order: left front, right front, left rear,
-     * right rear. VehiclePropValue.timestamp must be correctly filled in.
-     *
-     * Vendors must specify wheels that support this sensor in
-     * VehiclePropConfig.configFlags. The format of this field is a bitset of
-     * values from Wheel enum.
-     *
-     * @change_mode VehiclePropertyChangeMode:ON_CHANGE|VehiclePropertyChangeMode:CONTINUOUS
-     * @access VehiclePropertyAccess:READ
-     * @unit VehicleUnit:METER
-     */
-    WHEEL_TICK = (
-        0x0306
-        | VehiclePropertyGroup:SYSTEM
-        | VehiclePropertyType:FLOAT_VEC
-        | VehicleArea:GLOBAL),
-
-    /*
      * Currently selected gear
      *
      * @change_mode VehiclePropertyChangeMode:ON_CHANGE
diff --git a/automotive/vehicle/2.1/Android.bp b/automotive/vehicle/2.1/Android.bp
new file mode 100644
index 0000000..12bb4ed
--- /dev/null
+++ b/automotive/vehicle/2.1/Android.bp
@@ -0,0 +1,64 @@
+// This file is autogenerated by hidl-gen. Do not edit manually.
+
+filegroup {
+    name: "android.hardware.automotive.vehicle@2.1_hal",
+    srcs: [
+        "types.hal",
+        "IVehicle.hal",
+    ],
+}
+
+genrule {
+    name: "android.hardware.automotive.vehicle@2.1_genc++",
+    tools: ["hidl-gen"],
+    cmd: "$(location hidl-gen) -o $(genDir) -Lc++ -randroid.hardware:hardware/interfaces -randroid.hidl:system/libhidl/transport android.hardware.automotive.vehicle@2.1",
+    srcs: [
+        "types.hal",
+        "IVehicle.hal",
+    ],
+    out: [
+        "android/hardware/automotive/vehicle/2.1/types.cpp",
+        "android/hardware/automotive/vehicle/2.1/VehicleAll.cpp",
+    ],
+}
+
+genrule {
+    name: "android.hardware.automotive.vehicle@2.1_genc++_headers",
+    tools: ["hidl-gen"],
+    cmd: "$(location hidl-gen) -o $(genDir) -Lc++ -randroid.hardware:hardware/interfaces -randroid.hidl:system/libhidl/transport android.hardware.automotive.vehicle@2.1",
+    srcs: [
+        "types.hal",
+        "IVehicle.hal",
+    ],
+    out: [
+        "android/hardware/automotive/vehicle/2.1/types.h",
+        "android/hardware/automotive/vehicle/2.1/IVehicle.h",
+        "android/hardware/automotive/vehicle/2.1/IHwVehicle.h",
+        "android/hardware/automotive/vehicle/2.1/BnHwVehicle.h",
+        "android/hardware/automotive/vehicle/2.1/BpHwVehicle.h",
+        "android/hardware/automotive/vehicle/2.1/BsVehicle.h",
+    ],
+}
+
+cc_library_shared {
+    name: "android.hardware.automotive.vehicle@2.1",
+    generated_sources: ["android.hardware.automotive.vehicle@2.1_genc++"],
+    generated_headers: ["android.hardware.automotive.vehicle@2.1_genc++_headers"],
+    export_generated_headers: ["android.hardware.automotive.vehicle@2.1_genc++_headers"],
+    shared_libs: [
+        "libhidlbase",
+        "libhidltransport",
+        "libhwbinder",
+        "liblog",
+        "libutils",
+        "libcutils",
+        "android.hardware.automotive.vehicle@2.0",
+    ],
+    export_shared_lib_headers: [
+        "libhidlbase",
+        "libhidltransport",
+        "libhwbinder",
+        "libutils",
+        "android.hardware.automotive.vehicle@2.0",
+    ],
+}
diff --git a/automotive/vehicle/2.1/Android.mk b/automotive/vehicle/2.1/Android.mk
new file mode 100644
index 0000000..f618268
--- /dev/null
+++ b/automotive/vehicle/2.1/Android.mk
@@ -0,0 +1,116 @@
+# This file is autogenerated by hidl-gen. Do not edit manually.
+
+LOCAL_PATH := $(call my-dir)
+
+################################################################################
+
+include $(CLEAR_VARS)
+LOCAL_MODULE := android.hardware.automotive.vehicle@2.1-java
+LOCAL_MODULE_CLASS := JAVA_LIBRARIES
+
+intermediates := $(local-generated-sources-dir)
+
+HIDL := $(HOST_OUT_EXECUTABLES)/hidl-gen$(HOST_EXECUTABLE_SUFFIX)
+
+LOCAL_JAVA_LIBRARIES := \
+    android.hardware.automotive.vehicle@2.0-java \
+    android.hidl.base@1.0-java \
+
+
+#
+# Build types.hal (VehicleProperty)
+#
+GEN := $(intermediates)/android/hardware/automotive/vehicle/V2_1/VehicleProperty.java
+$(GEN): $(HIDL)
+$(GEN): PRIVATE_HIDL := $(HIDL)
+$(GEN): PRIVATE_DEPS := $(LOCAL_PATH)/types.hal
+$(GEN): PRIVATE_OUTPUT_DIR := $(intermediates)
+$(GEN): PRIVATE_CUSTOM_TOOL = \
+        $(PRIVATE_HIDL) -o $(PRIVATE_OUTPUT_DIR) \
+        -Ljava \
+        -randroid.hardware:hardware/interfaces \
+        -randroid.hidl:system/libhidl/transport \
+        android.hardware.automotive.vehicle@2.1::types.VehicleProperty
+
+$(GEN): $(LOCAL_PATH)/types.hal
+	$(transform-generated-source)
+LOCAL_GENERATED_SOURCES += $(GEN)
+
+#
+# Build IVehicle.hal
+#
+GEN := $(intermediates)/android/hardware/automotive/vehicle/V2_1/IVehicle.java
+$(GEN): $(HIDL)
+$(GEN): PRIVATE_HIDL := $(HIDL)
+$(GEN): PRIVATE_DEPS := $(LOCAL_PATH)/IVehicle.hal
+$(GEN): PRIVATE_OUTPUT_DIR := $(intermediates)
+$(GEN): PRIVATE_CUSTOM_TOOL = \
+        $(PRIVATE_HIDL) -o $(PRIVATE_OUTPUT_DIR) \
+        -Ljava \
+        -randroid.hardware:hardware/interfaces \
+        -randroid.hidl:system/libhidl/transport \
+        android.hardware.automotive.vehicle@2.1::IVehicle
+
+$(GEN): $(LOCAL_PATH)/IVehicle.hal
+	$(transform-generated-source)
+LOCAL_GENERATED_SOURCES += $(GEN)
+include $(BUILD_JAVA_LIBRARY)
+
+
+################################################################################
+
+include $(CLEAR_VARS)
+LOCAL_MODULE := android.hardware.automotive.vehicle@2.1-java-static
+LOCAL_MODULE_CLASS := JAVA_LIBRARIES
+
+intermediates := $(local-generated-sources-dir)
+
+HIDL := $(HOST_OUT_EXECUTABLES)/hidl-gen$(HOST_EXECUTABLE_SUFFIX)
+
+LOCAL_STATIC_JAVA_LIBRARIES := \
+    android.hardware.automotive.vehicle@2.0-java-static \
+    android.hidl.base@1.0-java-static \
+
+
+#
+# Build types.hal (VehicleProperty)
+#
+GEN := $(intermediates)/android/hardware/automotive/vehicle/V2_1/VehicleProperty.java
+$(GEN): $(HIDL)
+$(GEN): PRIVATE_HIDL := $(HIDL)
+$(GEN): PRIVATE_DEPS := $(LOCAL_PATH)/types.hal
+$(GEN): PRIVATE_OUTPUT_DIR := $(intermediates)
+$(GEN): PRIVATE_CUSTOM_TOOL = \
+        $(PRIVATE_HIDL) -o $(PRIVATE_OUTPUT_DIR) \
+        -Ljava \
+        -randroid.hardware:hardware/interfaces \
+        -randroid.hidl:system/libhidl/transport \
+        android.hardware.automotive.vehicle@2.1::types.VehicleProperty
+
+$(GEN): $(LOCAL_PATH)/types.hal
+	$(transform-generated-source)
+LOCAL_GENERATED_SOURCES += $(GEN)
+
+#
+# Build IVehicle.hal
+#
+GEN := $(intermediates)/android/hardware/automotive/vehicle/V2_1/IVehicle.java
+$(GEN): $(HIDL)
+$(GEN): PRIVATE_HIDL := $(HIDL)
+$(GEN): PRIVATE_DEPS := $(LOCAL_PATH)/IVehicle.hal
+$(GEN): PRIVATE_OUTPUT_DIR := $(intermediates)
+$(GEN): PRIVATE_CUSTOM_TOOL = \
+        $(PRIVATE_HIDL) -o $(PRIVATE_OUTPUT_DIR) \
+        -Ljava \
+        -randroid.hardware:hardware/interfaces \
+        -randroid.hidl:system/libhidl/transport \
+        android.hardware.automotive.vehicle@2.1::IVehicle
+
+$(GEN): $(LOCAL_PATH)/IVehicle.hal
+	$(transform-generated-source)
+LOCAL_GENERATED_SOURCES += $(GEN)
+include $(BUILD_STATIC_JAVA_LIBRARY)
+
+
+
+include $(call all-makefiles-under,$(LOCAL_PATH))
diff --git a/automotive/vehicle/2.1/IVehicle.hal b/automotive/vehicle/2.1/IVehicle.hal
new file mode 100644
index 0000000..5b6a23f
--- /dev/null
+++ b/automotive/vehicle/2.1/IVehicle.hal
@@ -0,0 +1,31 @@
+/*
+ * Copyright (C) 2017 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.1 (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-2.1
+ *
+ * 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@2.1;
+
+import android.hardware.automotive.vehicle@2.0;
+
+/*
+ * New revision of IVehicle interface that supports properties defined in
+ * VehicleProperty enum version 2.1.
+ *
+ * NOTE: this HAL interface is under development and shouldn't be used in
+ *       production.
+ *
+ * TODO(pavelm): update comment when this interface is ready for prod.
+ */
+interface IVehicle extends @2.0::IVehicle {
+};
diff --git a/automotive/vehicle/2.1/default/Android.mk b/automotive/vehicle/2.1/default/Android.mk
new file mode 100644
index 0000000..1874cb3
--- /dev/null
+++ b/automotive/vehicle/2.1/default/Android.mk
@@ -0,0 +1,84 @@
+# Copyright (C) 2016 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.
+
+LOCAL_PATH := $(call my-dir)
+
+vhal_v2_0 = android.hardware.automotive.vehicle@2.0
+vhal_v2_1 = android.hardware.automotive.vehicle@2.1
+
+###############################################################################
+# Vehicle default VehicleHAL implementation
+###############################################################################
+include $(CLEAR_VARS)
+
+LOCAL_MODULE:= $(vhal_v2_1)-default-impl-lib
+
+LOCAL_C_INCLUDES := \
+    $(LOCAL_PATH)/impl/vhal_v2_1
+
+LOCAL_EXPORT_C_INCLUDE_DIRS := \
+    $(LOCAL_PATH)/impl
+
+
+# LOCAL_WHOLE_STATIC_LIBRARIES := \
+
+LOCAL_STATIC_LIBRARIES := \
+    $(vhal_v2_0)-default-impl-lib \
+    $(vhal_v2_0)-manager-lib \
+    $(vhal_v2_0)-libproto-native
+
+LOCAL_SHARED_LIBRARIES := \
+    libbinder \
+    libhidlbase \
+    libhidltransport \
+    libhwbinder \
+    liblog \
+    libutils \
+    libprotobuf-cpp-lite \
+    $(vhal_v2_0) \
+    $(vhal_v2_1) \
+
+include $(BUILD_STATIC_LIBRARY)
+
+###############################################################################
+# Vehicle HAL service
+###############################################################################
+include $(CLEAR_VARS)
+LOCAL_MODULE := $(vhal_v2_1)-service
+LOCAL_INIT_RC := $(vhal_v2_1)-service.rc
+LOCAL_MODULE_RELATIVE_PATH := hw
+
+LOCAL_SRC_FILES := \
+    service.cpp
+
+LOCAL_WHOLE_STATIC_LIBRARIES := \
+    $(vhal_v2_0)-libproto-native \
+
+LOCAL_STATIC_LIBRARIES := \
+    $(vhal_v2_0)-manager-lib \
+    $(vhal_v2_0)-default-impl-lib \
+    $(vhal_v2_1)-default-impl-lib \
+
+LOCAL_SHARED_LIBRARIES := \
+    libbinder \
+    libhidlbase \
+    libhidltransport \
+    libhwbinder \
+    liblog \
+    libutils \
+    libprotobuf-cpp-lite \
+    $(vhal_v2_0) \
+    $(vhal_v2_1) \
+
+include $(BUILD_EXECUTABLE)
diff --git a/automotive/vehicle/2.1/default/android.hardware.automotive.vehicle@2.1-service.rc b/automotive/vehicle/2.1/default/android.hardware.automotive.vehicle@2.1-service.rc
new file mode 100644
index 0000000..0b642d5
--- /dev/null
+++ b/automotive/vehicle/2.1/default/android.hardware.automotive.vehicle@2.1-service.rc
@@ -0,0 +1,4 @@
+service vehicle-hal-2.1 /system/bin/hw/android.hardware.automotive.vehicle@2.1-service
+    class hal
+    user vehicle_network
+    group system inet
diff --git a/automotive/vehicle/2.1/default/impl/vhal_v2_1/DefaultConfig.h b/automotive/vehicle/2.1/default/impl/vhal_v2_1/DefaultConfig.h
new file mode 100644
index 0000000..ab08cec
--- /dev/null
+++ b/automotive/vehicle/2.1/default/impl/vhal_v2_1/DefaultConfig.h
@@ -0,0 +1,47 @@
+/*
+ * Copyright (C) 2016 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.
+ */
+
+#ifndef android_hardware_automotive_vehicle_V2_1_impl_DefaultConfig_H_
+#define android_hardware_automotive_vehicle_V2_1_impl_DefaultConfig_H_
+
+#include <android/hardware/automotive/vehicle/2.1/types.h>
+#include <vhal_v2_0/VehicleUtils.h>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_1 {
+
+namespace impl {
+
+const V2_0::VehiclePropConfig kVehicleProperties[] = {
+    {
+        .prop = V2_0::toInt(V2_1::VehicleProperty::WHEEL_TICK),
+        .access = V2_0::VehiclePropertyAccess::READ,
+        .changeMode = V2_0::VehiclePropertyChangeMode::CONTINUOUS,
+    }
+};
+
+}  // impl
+
+}  // namespace V2_1
+}  // namespace vehicle
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
+
+#endif // android_hardware_automotive_vehicle_V2_1_impl_DefaultConfig_H_
diff --git a/automotive/vehicle/2.1/default/impl/vhal_v2_1/DefaultVehicleHal.h b/automotive/vehicle/2.1/default/impl/vhal_v2_1/DefaultVehicleHal.h
new file mode 100644
index 0000000..7ccb354
--- /dev/null
+++ b/automotive/vehicle/2.1/default/impl/vhal_v2_1/DefaultVehicleHal.h
@@ -0,0 +1,93 @@
+/*
+ * Copyright (C) 2016 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.
+ */
+
+#ifndef android_hardware_automotive_vehicle_V2_1_impl_DefaultVehicleHal_H_
+#define android_hardware_automotive_vehicle_V2_1_impl_DefaultVehicleHal_H_
+
+#include <memory>
+
+#include <utils/SystemClock.h>
+
+#include <vhal_v2_0/VehicleHal.h>
+#include <vhal_v2_0/DefaultVehicleHal.h>
+
+#include "DefaultConfig.h"
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_1 {
+
+namespace impl {
+
+using namespace std::placeholders;
+
+class DefaultVehicleHal : public V2_0::VehicleHal {
+public:
+    DefaultVehicleHal(V2_0::VehicleHal* vhal20) : mVehicleHal20(vhal20) {}
+
+    std::vector<V2_0::VehiclePropConfig> listProperties() override {
+        std::vector<V2_0::VehiclePropConfig> propConfigs(mVehicleHal20->listProperties());
+
+        // Join Vehicle Hal 2.0 and 2.1 configs.
+        propConfigs.insert(propConfigs.end(),
+                           std::begin(kVehicleProperties),
+                           std::end(kVehicleProperties));
+
+        return propConfigs;
+    }
+
+    VehiclePropValuePtr get(const V2_0::VehiclePropValue& requestedPropValue,
+                            V2_0::StatusCode* outStatus) override {
+        // TODO(pavelm): put logic related to VHAL 2.1 here (OBD, VMS, etc)
+        return mVehicleHal20->get(requestedPropValue, outStatus);
+    }
+
+    V2_0::StatusCode set(const V2_0::VehiclePropValue& propValue) override {
+        return mVehicleHal20->set(propValue);
+    }
+
+    V2_0::StatusCode subscribe(int32_t property,
+                               int32_t areas,
+                               float sampleRate) override {
+        return mVehicleHal20->subscribe(property, areas, sampleRate);
+    }
+
+    V2_0::StatusCode unsubscribe(int32_t property) override {
+        return mVehicleHal20->unsubscribe(property);
+    }
+
+    void onCreate() override {
+        mVehicleHal20->init(getValuePool(),
+                            std::bind(&DefaultVehicleHal::doHalEvent, this, _1),
+                            std::bind(&DefaultVehicleHal::doHalPropertySetError, this, _1, _2, _3));
+    }
+
+private:
+    V2_0::VehicleHal* mVehicleHal20;
+};
+
+}  // impl
+
+}  // namespace V2_1
+}  // namespace vehicle
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
+
+
+#endif  // android_hardware_automotive_vehicle_V2_0_impl_DefaultVehicleHal_H_
diff --git a/automotive/vehicle/2.1/default/service.cpp b/automotive/vehicle/2.1/default/service.cpp
new file mode 100644
index 0000000..aaadf17
--- /dev/null
+++ b/automotive/vehicle/2.1/default/service.cpp
@@ -0,0 +1,97 @@
+/*
+ * Copyright (C) 2016 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.
+ */
+
+#define LOG_TAG "automotive.vehicle@2.1-service"
+#include <android/log.h>
+#include <hidl/HidlTransportSupport.h>
+
+#include <iostream>
+
+#include <android/hardware/automotive/vehicle/2.1/IVehicle.h>
+
+#include <vhal_v2_0/VehicleHalManager.h>
+#include <vhal_v2_0/DefaultVehicleHal.h>
+
+#include <vhal_v2_1/DefaultVehicleHal.h>
+
+using namespace android;
+using namespace android::hardware;
+
+namespace V2_1 = ::android::hardware::automotive::vehicle::V2_1;
+namespace V2_0 = ::android::hardware::automotive::vehicle::V2_0;
+
+using StatusCode = V2_0::StatusCode;
+using VehiclePropValue = V2_0::VehiclePropValue;
+
+/* Just wrapper that passes all calls to the provided V2_0::IVehicle object */
+struct Vehicle_V2_1 : public V2_1::IVehicle {
+
+    Vehicle_V2_1(V2_0::IVehicle* vehicle20) : mVehicle20(vehicle20) {}
+
+    // Methods derived from IVehicle
+    Return<void> getAllPropConfigs(getAllPropConfigs_cb _hidl_cb)  override {
+        return mVehicle20->getAllPropConfigs(_hidl_cb);
+    }
+
+    Return<void> getPropConfigs(const hidl_vec<int32_t>& properties,
+                                getPropConfigs_cb _hidl_cb)  override {
+        return mVehicle20->getPropConfigs(properties, _hidl_cb);
+    }
+
+    Return<void> get(const V2_0::VehiclePropValue& requestedPropValue,
+                     get_cb _hidl_cb)  override {
+        return mVehicle20->get(requestedPropValue, _hidl_cb);
+    }
+
+    Return<StatusCode> set(const VehiclePropValue& value) override {
+        return mVehicle20->set(value);
+    }
+
+    Return<StatusCode> subscribe(const sp<V2_0::IVehicleCallback>& callback,
+                                 const hidl_vec<V2_0::SubscribeOptions>&
+                                 options)  override {
+        return mVehicle20->subscribe(callback, options);
+    }
+
+    Return<StatusCode> unsubscribe(const sp<V2_0::IVehicleCallback>& callback,
+                                   int32_t propId)  override {
+        return mVehicle20->unsubscribe(callback, propId);
+    }
+
+    Return<void> debugDump(debugDump_cb _hidl_cb = nullptr) override {
+        return mVehicle20->debugDump(_hidl_cb);
+    }
+
+private:
+    V2_0::IVehicle* mVehicle20;
+};
+
+int main(int /* argc */, char* /* argv */ []) {
+    auto halImpl20 = std::make_unique<V2_0::impl::DefaultVehicleHal>();
+    auto halImpl21 = std::make_unique<V2_1::impl::DefaultVehicleHal>(halImpl20.get());
+
+    auto vehicleManager = std::make_unique<V2_0::VehicleHalManager>(halImpl21.get());
+
+    Vehicle_V2_1 vehicle21(vehicleManager.get());
+
+    ALOGI("Registering as service...");
+    vehicle21.registerAsService("Vehicle");
+
+    configureRpcThreadpool(1, true /* callerWillJoin */);
+
+    ALOGI("Ready");
+    joinRpcThreadpool();
+}
diff --git a/automotive/vehicle/2.1/types.hal b/automotive/vehicle/2.1/types.hal
new file mode 100644
index 0000000..5df1fbc
--- /dev/null
+++ b/automotive/vehicle/2.1/types.hal
@@ -0,0 +1,46 @@
+/*
+ * Copyright (C) 2017 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.1 (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-2.1
+ *
+ * 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@2.1;
+
+import android.hardware.automotive.vehicle@2.0;
+
+/*
+ * Extension of VehicleProperty enum declared in Vehicle HAL 2.0
+ */
+enum VehicleProperty: @2.0::VehicleProperty {
+    /*
+     * Reports wheel rotational distance in meters since last wheel tick
+     * event
+     *
+     * The value is a vector each element represents distance for individual
+     * wheel in the following order: left front, right front, left rear,
+     * right rear. VehiclePropValue.timestamp must be correctly filled in.
+     *
+     * Vendors must specify wheels that support this sensor in
+     * VehiclePropConfig.configFlags. The format of this field is a bitset of
+     * values from Wheel enum.
+     *
+     * @change_mode VehiclePropertyChangeMode:ON_CHANGE |VehiclePropertyChangeMode:CONTINUOUS
+     * @access VehiclePropertyAccess:READ
+     * @unit VehicleUnit:METER
+     */
+    WHEEL_TICK = (
+      0x0306
+      | VehiclePropertyGroup:SYSTEM
+      | VehiclePropertyType:FLOAT_VEC
+      | VehicleArea:GLOBAL),
+};