diff --git a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
index 68641ab..e488951 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
@@ -250,6 +250,7 @@
         {VehicleProperty::LANE_KEEP_ASSIST_ENABLED, VehiclePropertyAccess::READ_WRITE},
         {VehicleProperty::LANE_KEEP_ASSIST_STATE, VehiclePropertyAccess::READ},
         {VehicleProperty::LANE_CENTERING_ASSIST_ENABLED, VehiclePropertyAccess::READ_WRITE},
+        {VehicleProperty::LANE_CENTERING_ASSIST_STATE, VehiclePropertyAccess::READ},
         {VehicleProperty::EMERGENCY_LANE_KEEP_ASSIST_ENABLED, VehiclePropertyAccess::READ_WRITE},
         {VehicleProperty::ADAPTIVE_CRUISE_CONTROL_ENABLED, VehiclePropertyAccess::READ_WRITE},
         {VehicleProperty::HANDS_ON_DETECTION_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 96105da..133e7a9 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
@@ -250,6 +250,7 @@
         {VehicleProperty::LANE_KEEP_ASSIST_ENABLED, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::LANE_KEEP_ASSIST_STATE, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::LANE_CENTERING_ASSIST_ENABLED, VehiclePropertyChangeMode::ON_CHANGE},
+        {VehicleProperty::LANE_CENTERING_ASSIST_STATE, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::EMERGENCY_LANE_KEEP_ASSIST_ENABLED, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::ADAPTIVE_CRUISE_CONTROL_ENABLED, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::HANDS_ON_DETECTION_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 e25af0f..4f072cf 100644
--- a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
@@ -242,6 +242,7 @@
         Map.entry(VehicleProperty.LANE_KEEP_ASSIST_ENABLED, VehiclePropertyAccess.READ_WRITE),
         Map.entry(VehicleProperty.LANE_KEEP_ASSIST_STATE, VehiclePropertyAccess.READ),
         Map.entry(VehicleProperty.LANE_CENTERING_ASSIST_ENABLED, VehiclePropertyAccess.READ_WRITE),
+        Map.entry(VehicleProperty.LANE_CENTERING_ASSIST_STATE, VehiclePropertyAccess.READ),
         Map.entry(VehicleProperty.EMERGENCY_LANE_KEEP_ASSIST_ENABLED, VehiclePropertyAccess.READ_WRITE),
         Map.entry(VehicleProperty.ADAPTIVE_CRUISE_CONTROL_ENABLED, VehiclePropertyAccess.READ_WRITE),
         Map.entry(VehicleProperty.HANDS_ON_DETECTION_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 207f6c7..2301503 100644
--- a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
@@ -242,6 +242,7 @@
         Map.entry(VehicleProperty.LANE_KEEP_ASSIST_ENABLED, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.LANE_KEEP_ASSIST_STATE, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.LANE_CENTERING_ASSIST_ENABLED, VehiclePropertyChangeMode.ON_CHANGE),
+        Map.entry(VehicleProperty.LANE_CENTERING_ASSIST_STATE, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.EMERGENCY_LANE_KEEP_ASSIST_ENABLED, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.ADAPTIVE_CRUISE_CONTROL_ENABLED, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.HANDS_ON_DETECTION_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 aa8fd83..9bf5750 100644
--- a/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp
+++ b/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp
@@ -45,6 +45,7 @@
 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::LaneCenteringAssistState;
 using ::aidl::android::hardware::automotive::vehicle::LaneKeepAssistState;
 using ::aidl::android::hardware::automotive::vehicle::RawPropValues;
 using ::aidl::android::hardware::automotive::vehicle::VehicleApPowerStateReport;
@@ -221,6 +222,8 @@
             std::make_unique<ConstantParser<BlindSpotWarningState>>();
     mConstantParsersByType["LaneKeepAssistState"] =
             std::make_unique<ConstantParser<LaneKeepAssistState>>();
+    mConstantParsersByType["LaneCenteringAssistState"] =
+            std::make_unique<ConstantParser<LaneCenteringAssistState>>();
     mConstantParsersByType["Constants"] = std::make_unique<LocalVariableParser>();
 }
 
diff --git a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
index d995896..da9eaaf 100644
--- a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
+++ b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
@@ -3288,9 +3288,33 @@
             "property": "VehicleProperty::LANE_CENTERING_ASSIST_ENABLED",
             "defaultValue": {
                 "int32Values": [
-                    0
+                    1
                 ]
             }
+        },
+        {
+            "property": "VehicleProperty::LANE_CENTERING_ASSIST_STATE",
+            "defaultValue": {
+                "int32Values": [
+                    "LaneCenteringAssistState::ENABLED"
+                ]
+            },
+            "areas": [
+                {
+                    "areaId": 0,
+                    "supportedEnumValues": [
+                        "ErrorState::NOT_AVAILABLE_SAFETY",
+                        "ErrorState::NOT_AVAILABLE_SPEED_HIGH",
+                        "ErrorState::NOT_AVAILABLE_SPEED_LOW",
+                        "ErrorState::NOT_AVAILABLE_DISABLED",
+                        "LaneCenteringAssistState::ENABLED",
+                        "LaneCenteringAssistState::ACTIVATION_REQUESTED",
+                        "LaneCenteringAssistState::ACTIVATED",
+                        "LaneCenteringAssistState::USER_OVERRIDE",
+                        "LaneCenteringAssistState::FORCED_DEACTIVATION_WARNING"
+                    ]
+                }
+            ]
         }
     ]
 }
diff --git a/automotive/vehicle/aidl/impl/default_config/config/README.md b/automotive/vehicle/aidl/impl/default_config/config/README.md
index e047101..6f0785f 100644
--- a/automotive/vehicle/aidl/impl/default_config/config/README.md
+++ b/automotive/vehicle/aidl/impl/default_config/config/README.md
@@ -149,6 +149,8 @@
 
 * LaneKeepAssistState
 
+* LaneCenteringAssistState
+
 * ErrorState
 
 * Constants
diff --git a/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h b/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
index 0fc3215..950b3a0 100644
--- a/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
+++ b/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
@@ -32,6 +32,7 @@
 #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/LaneCenteringAssistState.h>
 #include <aidl/android/hardware/automotive/vehicle/LaneKeepAssistState.h>
 #include <aidl/android/hardware/automotive/vehicle/Obd2CommonIgnitionMonitors.h>
 #include <aidl/android/hardware/automotive/vehicle/Obd2FuelSystemStatus.h>
diff --git a/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/LaneCenteringAssistState.aidl b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/LaneCenteringAssistState.aidl
new file mode 100644
index 0000000..c5afe2b
--- /dev/null
+++ b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/LaneCenteringAssistState.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.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// 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 LaneCenteringAssistState {
+  OTHER = 0,
+  ENABLED = 1,
+  ACTIVATION_REQUESTED = 2,
+  ACTIVATED = 3,
+  USER_OVERRIDE = 4,
+  FORCED_DEACTIVATION_WARNING = 5,
+}
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 941c0ae..930fbd8 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
@@ -248,6 +248,7 @@
   LANE_KEEP_ASSIST_ENABLED = (((0x1008 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.BOOLEAN) /* 287313928 */,
   LANE_KEEP_ASSIST_STATE = (((0x1009 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32) /* 289411081 */,
   LANE_CENTERING_ASSIST_ENABLED = (((0x100A + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.BOOLEAN) /* 287313930 */,
+  LANE_CENTERING_ASSIST_STATE = (((0x100C + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32) /* 289411084 */,
   EMERGENCY_LANE_KEEP_ASSIST_ENABLED = (((0x100D + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.BOOLEAN) /* 287313933 */,
   ADAPTIVE_CRUISE_CONTROL_ENABLED = (((0x100F + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.BOOLEAN) /* 287313935 */,
   HANDS_ON_DETECTION_ENABLED = (((0x1016 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.BOOLEAN) /* 287313942 */,
diff --git a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/LaneCenteringAssistState.aidl b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/LaneCenteringAssistState.aidl
new file mode 100644
index 0000000..340a669
--- /dev/null
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/LaneCenteringAssistState.aidl
@@ -0,0 +1,70 @@
+/*
+ * 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 state of Lane Centering Assist (LCA).
+ */
+@VintfStability
+@Backing(type="int")
+enum LaneCenteringAssistState {
+
+    /**
+     * This state is used as an alternative for any LaneCenteringAssistState value that is not
+     * defined in the platform. Ideally, implementations of
+     * VehicleProperty#LANE_CENTERING_ASSIST_STATE should not use this state. The framework
+     * can use this field to remain backwards compatible if LaneCenteringAssistState is
+     * extended to include additional states.
+     */
+    OTHER = 0,
+    /**
+     * LCA is enabled but the ADAS system has not received an activation signal from the driver.
+     * Therefore, LCA is not steering the car and waits for the driver to send a
+     * LaneCenteringAssistCommand#ACTIVATE command.
+     */
+    ENABLED = 1,
+    /**
+     * LCA is enabled and the driver has sent an activation command to the LCA system, but the
+     * system has not started actively steering the vehicle. This may happen when LCA needs time to
+     * detect valid lane lines. The activation command can be sent through the
+     * VehicleProperty#LANE_CENTERING_ASSIST_COMMAND vehicle property or through a system external
+     * to Android. Once LCA is actively steering the vehicle, the state must be updated to
+     * ACTIVATED. If the feature is not able to activate, then the cause can be communicated through
+     * the ErrorState values and then return to the ENABLED state.
+     */
+    ACTIVATION_REQUESTED = 2,
+    /**
+     * LCA is enabled and actively steering the car to keep it centered in its lane.
+     */
+    ACTIVATED = 3,
+    /**
+     * Many LCA implementations allow the driver to override LCA. This means that the car has
+     * determined it should go a certain direction to keep the car centered in the lane, but a user
+     * decides to take over and do something else. This is often done for safety reasons and to
+     * ensure that the driver can always take control of the vehicle. This state should be set when
+     * the user is actively overriding the LCA system.
+     */
+    USER_OVERRIDE = 4,
+    /**
+     * When LCA is in the ACTIVATED state but it will potentially need to deactivate because of
+     * external conditions (e.g. roads curvature is too extreme, the driver does not have their
+     * hands on the steering wheel for a long period of time, or the driver is not paying
+     * attention), then the ADAS system will notify the driver of a potential need to deactivate and
+     * give control back to the driver.
+     */
+    FORCED_DEACTIVATION_WARNING = 5,
+}
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 8f52d85..400c1ce 100644
--- a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -3652,6 +3652,28 @@
     LANE_CENTERING_ASSIST_ENABLED =
             0x100A + VehiclePropertyGroup.SYSTEM + VehicleArea.GLOBAL + VehiclePropertyType.BOOLEAN,
 
+    /**
+     * Lane Centering Assist (LCA) state.
+     *
+     * Returns the current state of LCA. This property must always return a valid state defined in
+     * LaneCenteringAssistState or ErrorState. It must not surface errors through StatusCode
+     * and must use the supported error states instead.
+     *
+     * If LCA includes lane departure warnings, those warnings must be surfaced through the Lane
+     * Departure Warning (LDW) properties.
+     *
+     * For the global area ID (0), the VehicleAreaConfig#supportedEnumValues array must be defined
+     * unless all states of both LaneCenteringAssistState (including OTHER, which is not
+     * recommended) and ErrorState are supported.
+     *
+     * @change_mode VehiclePropertyChangeMode.ON_CHANGE
+     * @access VehiclePropertyAccess.READ
+     * @data_enum LaneCenteringAssistState
+     * @data_enum ErrorState
+     */
+    LANE_CENTERING_ASSIST_STATE =
+            0x100C + VehiclePropertyGroup.SYSTEM + VehicleArea.GLOBAL + VehiclePropertyType.INT32,
+
     /*
      * Enable or disable emergency lane keep assist (ELKA).
      *
diff --git a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
index 57b57e9..0215907 100644
--- a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
+++ b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
@@ -738,6 +738,12 @@
                    VehiclePropertyGroup::SYSTEM, VehicleArea::GLOBAL, VehiclePropertyType::BOOLEAN);
 }
 
+TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyLaneCenteringAssistStateConfig) {
+    verifyProperty(VehicleProperty::LANE_CENTERING_ASSIST_STATE, VehiclePropertyAccess::READ,
+                   VehiclePropertyChangeMode::ON_CHANGE, VehiclePropertyGroup::SYSTEM,
+                   VehicleArea::GLOBAL, VehiclePropertyType::INT32);
+}
+
 std::vector<ServiceDescriptor> getDescriptors() {
     std::vector<ServiceDescriptor> descriptors;
     for (std::string name : getAidlHalInstanceNames(IVehicle::descriptor)) {