diff --git a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
index 884fd14..a3b79e8 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
@@ -267,6 +267,7 @@
         {VehicleProperty::CRUISE_CONTROL_COMMAND, VehiclePropertyAccess::WRITE},
         {VehicleProperty::CRUISE_CONTROL_TARGET_SPEED, VehiclePropertyAccess::READ},
         {VehicleProperty::ADAPTIVE_CRUISE_CONTROL_TARGET_TIME_GAP, VehiclePropertyAccess::READ_WRITE},
+        {VehicleProperty::ADAPTIVE_CRUISE_CONTROL_LEAD_VEHICLE_MEASURED_DISTANCE, VehiclePropertyAccess::READ},
         {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 dbb10f7..9d2cd7f 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
@@ -267,6 +267,7 @@
         {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::ADAPTIVE_CRUISE_CONTROL_LEAD_VEHICLE_MEASURED_DISTANCE, VehiclePropertyChangeMode::CONTINUOUS},
         {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 ecd2058..2f45a23 100644
--- a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
@@ -259,6 +259,7 @@
         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.ADAPTIVE_CRUISE_CONTROL_LEAD_VEHICLE_MEASURED_DISTANCE, VehiclePropertyAccess.READ),
         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 ca95842..fef80d2 100644
--- a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
@@ -259,6 +259,7 @@
         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.ADAPTIVE_CRUISE_CONTROL_LEAD_VEHICLE_MEASURED_DISTANCE, VehiclePropertyChangeMode.CONTINUOUS),
         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 ba844cb..8bcb1cc 100644
--- a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
+++ b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
@@ -3280,6 +3280,23 @@
             ]
         },
         {
+            "property": "VehicleProperty::ADAPTIVE_CRUISE_CONTROL_LEAD_VEHICLE_MEASURED_DISTANCE",
+            "defaultValue": {
+                "int32Values": [
+                    100000
+                ]
+            },
+            "areas": [
+                {
+                    "areaId": 0,
+                    "minInt32Value": 0,
+                    "maxInt32Value": 200000
+                }
+            ],
+            "maxSampleRate": 10.0,
+            "minSampleRate": 1.0
+        },
+        {
             "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 116099f..175b0ac 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
@@ -265,6 +265,7 @@
   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 */,
+  ADAPTIVE_CRUISE_CONTROL_LEAD_VEHICLE_MEASURED_DISTANCE = (((0x1015 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32) /* 289411093 */,
   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 e91b06b..235ccd0 100644
--- a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -4037,6 +4037,28 @@
             0x1014 + VehiclePropertyGroup.SYSTEM + VehicleArea.GLOBAL + VehiclePropertyType.INT32,
 
     /**
+     * Measured distance from leading vehicle when using Adaptive Cruise Control (ACC) or
+     * Predictive Cruise Control.
+     *
+     * Returns the measured distance in millimeters between the rear-most point of the leading
+     * vehicle and the front-most point of the ACC vehicle.
+     *
+     * The minInt32Value should be 0.
+     * The maxInt32Value should be populated with the maximum range the distance sensor can support.
+     * This value should be non-negative.
+     *
+     * When no lead vehicle is detected (that is, when there is no leading vehicle or the leading
+     * vehicle is too far away for the sensor to detect), this property should return
+     * StatusCode.NOT_AVAILABLE.
+     *
+     * @change_mode VehiclePropertyChangeMode.CONTINUOUS
+     * @access VehiclePropertyAccess.READ
+     * @unit VehicleUnit:MILLIMETER
+     */
+    ADAPTIVE_CRUISE_CONTROL_LEAD_VEHICLE_MEASURED_DISTANCE =
+            0x1015 + 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 3170a19..1c9d0db 100644
--- a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
+++ b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
@@ -546,6 +546,13 @@
                    VehiclePropertyGroup::SYSTEM, VehicleArea::GLOBAL, VehiclePropertyType::INT32);
 }
 
+TEST_P(VtsHalAutomotiveVehicleTargetTest,
+       verifyAdaptiveCruiseControlLeadVehicleMeasuredDistanceConfig) {
+    verifyProperty(VehicleProperty::ADAPTIVE_CRUISE_CONTROL_LEAD_VEHICLE_MEASURED_DISTANCE,
+                   VehiclePropertyAccess::READ, VehiclePropertyChangeMode::CONTINUOUS,
+                   VehiclePropertyGroup::SYSTEM, VehicleArea::GLOBAL, VehiclePropertyType::INT32);
+}
+
 TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyHandsOnDetectionEnabledConfig) {
     verifyProperty(VehicleProperty::HANDS_ON_DETECTION_ENABLED, VehiclePropertyAccess::READ_WRITE,
                    VehiclePropertyChangeMode::ON_CHANGE, VehiclePropertyGroup::SYSTEM,