diff --git a/vehicle/2.0/Android.mk b/vehicle/2.0/Android.mk
index 95449608c5..1dd0f45031 100644
--- a/vehicle/2.0/Android.mk
+++ b/vehicle/2.0/Android.mk
@@ -1080,6 +1080,25 @@ $(GEN): $(LOCAL_PATH)/types.hal
 	$(transform-generated-source)
 LOCAL_GENERATED_SOURCES += $(GEN)
 
+#
+# Build types.hal (Wheel)
+#
+GEN := $(intermediates)/android/hardware/vehicle/V2_0/Wheel.java
+$(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 $(PRIVATE_OUTPUT_DIR) \
+        -Ljava \
+        -randroid.hardware:hardware/interfaces \
+        -randroid.hidl:system/libhidl/transport \
+        android.hardware.vehicle@2.0::types.Wheel
+
+$(GEN): $(LOCAL_PATH)/types.hal
+	$(transform-generated-source)
+LOCAL_GENERATED_SOURCES += $(GEN)
+
 #
 # Build IVehicle.hal
 #
@@ -2204,6 +2223,25 @@ $(GEN): $(LOCAL_PATH)/types.hal
 	$(transform-generated-source)
 LOCAL_GENERATED_SOURCES += $(GEN)
 
+#
+# Build types.hal (Wheel)
+#
+GEN := $(intermediates)/android/hardware/vehicle/V2_0/Wheel.java
+$(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 $(PRIVATE_OUTPUT_DIR) \
+        -Ljava \
+        -randroid.hardware:hardware/interfaces \
+        -randroid.hidl:system/libhidl/transport \
+        android.hardware.vehicle@2.0::types.Wheel
+
+$(GEN): $(LOCAL_PATH)/types.hal
+	$(transform-generated-source)
+LOCAL_GENERATED_SOURCES += $(GEN)
+
 #
 # Build IVehicle.hal
 #
diff --git a/vehicle/2.0/types.hal b/vehicle/2.0/types.hal
index fb59a5a182..2026655cc5 100644
--- a/vehicle/2.0/types.hal
+++ b/vehicle/2.0/types.hal
@@ -225,6 +225,28 @@ enum VehicleProperty: int32_t {
         | VehiclePropertyType:FLOAT
         | 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
      *
@@ -2745,6 +2767,15 @@ enum CompressionIgnitionMonitors : CommonIgnitionMonitors {
   NMHC_CATALYST_INCOMPLETE = 0x1 << 17,
 };
 
+enum Wheel : int32_t {
+    UNKNOWN = 0x0,
+
+    LEFT_FRONT = 0x1,
+    RIGHT_FRONT = 0x2,
+    LEFT_REAR = 0x4,
+    RIGHT_REAR = 0x8,
+};
+
 enum SecondaryAirStatus : int32_t {
   UPSTREAM = 1,