diff --git a/packages/SystemUI/res/values/strings.xml b/packages/SystemUI/res/values/strings.xml
index 2c3d947ba9e23..7173c20479c3a 100644
--- a/packages/SystemUI/res/values/strings.xml
+++ b/packages/SystemUI/res/values/strings.xml
@@ -804,6 +804,14 @@
     <!-- Message shown when non-bypass face authentication succeeds and UDFPS is supported. Provides extra instructions for how the user can enter their device [CHAR LIMIT=60] -->
     <string name="keyguard_face_successful_unlock_press">Unlocked by face. Press the unlock icon to open.</string>
 
+    <!-- Messages shown when users press outside of udfps region during -->
+    <string-array name="udfps_accessibility_touch_hints">
+        <item>Move left</item>
+        <item>Move down</item>
+        <item>Move right</item>
+        <item>Move up</item>
+    </string-array>
+
     <!-- Message shown when face authentication fails and the pin pad is visible. [CHAR LIMIT=60] -->
     <string name="keyguard_retry">Swipe up to try again</string>
 
diff --git a/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsAnimationViewController.kt b/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsAnimationViewController.kt
index 5cfbdb0caf2d2..742c65c2f8541 100644
--- a/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsAnimationViewController.kt
+++ b/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsAnimationViewController.kt
@@ -192,4 +192,9 @@ abstract class UdfpsAnimationViewController<T : UdfpsAnimationView>(
      * Called on touches outside of the view if listenForTouchesOutsideView returns true
      */
     open fun onTouchOutsideView() {}
+
+    /**
+     * Called when a view should announce an accessibility event.
+     */
+    open fun doAnnounceForAccessibility(str: String) {}
 }
\ No newline at end of file
diff --git a/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsController.java b/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsController.java
index 9febaa01eed71..88e467f6c2e2d 100644
--- a/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsController.java
+++ b/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsController.java
@@ -381,6 +381,27 @@ public class UdfpsController implements DozeReceiver {
                 && mOverlayParams.getSensorBounds().contains((int) x, (int) y);
     }
 
+    private Point getTouchInNativeCoordinates(@NonNull MotionEvent event, int idx) {
+        Point portraitTouch = new Point(
+                (int) event.getRawX(idx),
+                (int) event.getRawY(idx)
+        );
+        final int rot = mOverlayParams.getRotation();
+        if (rot == Surface.ROTATION_90 || rot == Surface.ROTATION_270) {
+            RotationUtils.rotatePoint(portraitTouch,
+                    RotationUtils.deltaRotation(rot, Surface.ROTATION_0),
+                    mOverlayParams.getLogicalDisplayWidth(),
+                    mOverlayParams.getLogicalDisplayHeight()
+            );
+        }
+
+        // Scale the coordinates to native resolution.
+        final float scale = mOverlayParams.getScaleFactor();
+        portraitTouch.x = (int) (portraitTouch.x / scale);
+        portraitTouch.y = (int) (portraitTouch.y / scale);
+        return portraitTouch;
+    }
+
     @VisibleForTesting
     boolean onTouch(long requestId, @NonNull MotionEvent event, boolean fromUdfpsView) {
         if (mOverlay == null) {
@@ -434,6 +455,7 @@ public class UdfpsController implements DozeReceiver {
                     mKeyguardViewManager.notifyKeyguardAuthenticated(false /* strongAuth */);
                     mAttemptedToDismissKeyguard = true;
                 }
+
                 Trace.endSection();
                 break;
 
@@ -457,6 +479,8 @@ public class UdfpsController implements DozeReceiver {
                         mAttemptedToDismissKeyguard = true;
                         break;
                     }
+                    // Map the touch to portrait mode if the device is in landscape mode.
+                    final Point scaledTouch = getTouchInNativeCoordinates(event, idx);
                     if (actionMoveWithinSensorArea) {
                         if (mVelocityTracker == null) {
                             // touches could be injected, so the velocity tracker may not have
@@ -477,28 +501,13 @@ public class UdfpsController implements DozeReceiver {
                         final long sinceLastLog = mSystemClock.elapsedRealtime() - mTouchLogTime;
                         if (!isIlluminationRequested && !mAcquiredReceived
                                 && !exceedsVelocityThreshold) {
-                            // Map the touch to portrait mode if the device is in landscape mode.
-                            Point portraitTouch = new Point(
-                                    (int) event.getRawX(idx),
-                                    (int) event.getRawY(idx)
-                            );
-                            final int rot = mOverlayParams.getRotation();
-                            if (rot == Surface.ROTATION_90 || rot == Surface.ROTATION_270) {
-                                RotationUtils.rotatePoint(portraitTouch,
-                                        RotationUtils.deltaRotation(rot, Surface.ROTATION_0),
-                                        mOverlayParams.getLogicalDisplayWidth(),
-                                        mOverlayParams.getLogicalDisplayHeight()
-                                );
-                            }
 
-                            // Scale the coordinates to native resolution.
                             final float scale = mOverlayParams.getScaleFactor();
-                            int scaledX = (int) (portraitTouch.x / scale);
-                            int scaledY = (int) (portraitTouch.y / scale);
                             float scaledMinor = minor / scale;
                             float scaledMajor = major / scale;
 
-                            onFingerDown(requestId, scaledX, scaledY, scaledMinor, scaledMajor);
+                            onFingerDown(requestId, scaledTouch.x, scaledTouch.y, scaledMinor,
+                                    scaledMajor);
                             Log.v(TAG, "onTouch | finger down: " + touchInfo);
                             mTouchLogTime = mSystemClock.elapsedRealtime();
                             mPowerManager.userActivity(mSystemClock.uptimeMillis(),
@@ -511,6 +520,24 @@ public class UdfpsController implements DozeReceiver {
                     } else {
                         Log.v(TAG, "onTouch | finger outside");
                         onFingerUp(requestId, udfpsView);
+                        // Maybe announce for accessibility.
+                        mFgExecutor.execute(() -> {
+                            if (mOverlay == null) {
+                                Log.e(TAG, "touch outside sensor area received"
+                                        + "but serverRequest is null");
+                                return;
+                            }
+                            // Scale the coordinates to native resolution.
+                            final float scale = mOverlayParams.getScaleFactor();
+                            final float scaledSensorX =
+                                    mOverlayParams.getSensorBounds().centerX() / scale;
+                            final float scaledSensorY =
+                                    mOverlayParams.getSensorBounds().centerY() / scale;
+
+                            mOverlay.onTouchOutsideOfSensorArea(
+                                    scaledTouch.x, scaledTouch.y, scaledSensorX, scaledSensorY,
+                                    mOverlayParams.getRotation());
+                        });
                     }
                 }
                 Trace.endSection();
diff --git a/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsControllerOverlay.kt b/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsControllerOverlay.kt
index faa93a5a2ad34..37db2bd51238c 100644
--- a/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsControllerOverlay.kt
+++ b/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsControllerOverlay.kt
@@ -130,6 +130,8 @@ class UdfpsControllerOverlay(
     val animationViewController: UdfpsAnimationViewController<*>?
         get() = overlayView?.animationViewController
 
+    private var touchExplorationEnabled = false
+
     /** Show the overlay or return false and do nothing if it is already showing. */
     @SuppressLint("ClickableViewAccessibility")
     fun show(controller: UdfpsController, params: UdfpsOverlayParams): Boolean {
@@ -154,14 +156,16 @@ class UdfpsControllerOverlay(
                     }
 
                     windowManager.addView(this, coreLayoutParams.updateDimensions(animation))
-
+                    touchExplorationEnabled = accessibilityManager.isTouchExplorationEnabled
                     overlayTouchListener = TouchExplorationStateChangeListener {
                         if (accessibilityManager.isTouchExplorationEnabled) {
                             setOnHoverListener { v, event -> onTouch(v, event, true) }
                             setOnTouchListener(null)
+                            touchExplorationEnabled = true
                         } else {
                             setOnHoverListener(null)
                             setOnTouchListener { v, event -> onTouch(v, event, true) }
+                            touchExplorationEnabled = false
                         }
                     }
                     accessibilityManager.addTouchExplorationStateChangeListener(
@@ -179,7 +183,7 @@ class UdfpsControllerOverlay(
         return false
     }
 
-    private fun inflateUdfpsAnimation(
+    fun inflateUdfpsAnimation(
         view: UdfpsView,
         controller: UdfpsController
     ): UdfpsAnimationViewController<*>? {
@@ -278,6 +282,88 @@ class UdfpsControllerOverlay(
         enrollHelper?.onEnrollmentHelp()
     }
 
+    /**
+     * This function computes the angle of touch relative to the sensor and maps
+     * the angle to a list of help messages which are announced if accessibility is enabled.
+     *
+     */
+    fun onTouchOutsideOfSensorArea(
+        touchX: Float,
+        touchY: Float,
+        sensorX: Float,
+        sensorY: Float,
+        rotation: Int
+    ) {
+
+        if (!touchExplorationEnabled) {
+            return
+        }
+        val touchHints =
+            context.resources.getStringArray(R.array.udfps_accessibility_touch_hints)
+        if (touchHints.size != 4) {
+            Log.e(TAG, "expected exactly 4 touch hints, got $touchHints.size?")
+            return
+        }
+        val theStr = onTouchOutsideOfSensorAreaImpl(touchX, touchY, sensorX, sensorY, rotation)
+        Log.v(TAG, "Announcing touch outside : " + theStr)
+        animationViewController?.doAnnounceForAccessibility(theStr)
+    }
+
+    /**
+     * This function computes the angle of touch relative to the sensor and maps
+     * the angle to a list of help messages which are announced if accessibility is enabled.
+     *
+     * There are 4 quadrants of the circle (90 degree arcs)
+     *
+     * [315, 360] && [0, 45) -> touchHints[0] = "Move Fingerprint to the left"
+     * [45,  135)            -> touchHints[1] = "Move Fingerprint down"
+     * And so on.
+     */
+    fun onTouchOutsideOfSensorAreaImpl(
+        touchX: Float,
+        touchY: Float,
+        sensorX: Float,
+        sensorY: Float,
+        rotation: Int
+    ): String {
+        val touchHints =
+            context.resources.getStringArray(R.array.udfps_accessibility_touch_hints)
+
+        val xRelativeToSensor = touchX - sensorX
+        // Touch coordinates are with respect to the upper left corner, so reverse
+        // this calculation
+        val yRelativeToSensor = sensorY - touchY
+
+        var angleInRad =
+            Math.atan2(yRelativeToSensor.toDouble(), xRelativeToSensor.toDouble())
+        // If the radians are negative, that means we are counting clockwise.
+        // So we need to add 360 degrees
+        if (angleInRad < 0.0) {
+            angleInRad += 2.0 * Math.PI
+        }
+        // rad to deg conversion
+        val degrees = Math.toDegrees(angleInRad)
+
+        val degreesPerBucket = 360.0 / touchHints.size
+        val halfBucketDegrees = degreesPerBucket / 2.0
+        // The mapping should be as follows
+        // [315, 360] && [0, 45] -> 0
+        // [45, 135]             -> 1
+        var index = (((degrees + halfBucketDegrees) % 360) / degreesPerBucket).toInt()
+        index %= touchHints.size
+
+        // A rotation of 90 degrees corresponds to increasing the index by 1.
+        if (rotation == Surface.ROTATION_90) {
+            index = (index + 1) % touchHints.size
+        }
+
+        if (rotation == Surface.ROTATION_270) {
+            index = (index + 3) % touchHints.size
+        }
+
+        return touchHints[index]
+    }
+
     /** Cancel this request. */
     fun cancel() {
         try {
diff --git a/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsEnrollViewController.java b/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsEnrollViewController.java
index 2ed60e555c584..0b7bddee41fa3 100644
--- a/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsEnrollViewController.java
+++ b/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsEnrollViewController.java
@@ -99,4 +99,10 @@ public class UdfpsEnrollViewController extends UdfpsAnimationViewController<Udfp
     public int getPaddingY() {
         return mEnrollProgressBarRadius;
     }
+
+    @Override
+    public void doAnnounceForAccessibility(String str) {
+        mView.announceForAccessibility(str);
+    }
+
 }
diff --git a/packages/SystemUI/tests/src/com/android/systemui/biometrics/UdfpsControllerOverlayTest.kt b/packages/SystemUI/tests/src/com/android/systemui/biometrics/UdfpsControllerOverlayTest.kt
index 6eba2154e46ce..431739b6187ab 100644
--- a/packages/SystemUI/tests/src/com/android/systemui/biometrics/UdfpsControllerOverlayTest.kt
+++ b/packages/SystemUI/tests/src/com/android/systemui/biometrics/UdfpsControllerOverlayTest.kt
@@ -367,6 +367,73 @@ class UdfpsControllerOverlayTest : SysuiTestCase() {
         assertThat(controllerOverlay.matchesRequestId(REQUEST_ID)).isTrue()
         assertThat(controllerOverlay.matchesRequestId(REQUEST_ID + 1)).isFalse()
     }
+
+    @Test
+    fun testTouchOutsideAreaNoRotation() = withReason(REASON_ENROLL_ENROLLING) {
+        val touchHints =
+            context.resources.getStringArray(R.array.udfps_accessibility_touch_hints)
+        val rotation = Surface.ROTATION_0
+        // touch at 0 degrees
+        assertThat(controllerOverlay.onTouchOutsideOfSensorAreaImpl(0.0f /* x */, 0.0f /* y */,
+                0.0f /* sensorX */, 0.0f /* sensorY */, rotation))
+                .isEqualTo(touchHints[0])
+        // touch at 90 degrees
+        assertThat(controllerOverlay.onTouchOutsideOfSensorAreaImpl(0.0f /* x */, -1.0f /* y */,
+                0.0f /* sensorX */, 0.0f /* sensorY */, rotation))
+                .isEqualTo(touchHints[1])
+        // touch at 180 degrees
+        assertThat(controllerOverlay.onTouchOutsideOfSensorAreaImpl(-1.0f /* x */, 0.0f /* y */,
+                0.0f /* sensorX */, 0.0f /* sensorY */, rotation))
+                .isEqualTo(touchHints[2])
+        // touch at 270 degrees
+        assertThat(controllerOverlay.onTouchOutsideOfSensorAreaImpl(0.0f /* x */, 1.0f /* y */,
+                0.0f /* sensorX */, 0.0f /* sensorY */, rotation))
+                .isEqualTo(touchHints[3])
+    }
+
+    fun testTouchOutsideAreaNoRotation90Degrees() = withReason(REASON_ENROLL_ENROLLING) {
+        val touchHints =
+            context.resources.getStringArray(R.array.udfps_accessibility_touch_hints)
+        val rotation = Surface.ROTATION_90
+        // touch at 0 degrees -> 90 degrees
+        assertThat(controllerOverlay.onTouchOutsideOfSensorAreaImpl(0.0f /* x */, 0.0f /* y */,
+                0.0f /* sensorX */, 0.0f /* sensorY */, rotation))
+                .isEqualTo(touchHints[1])
+        // touch at 90 degrees -> 180 degrees
+        assertThat(controllerOverlay.onTouchOutsideOfSensorAreaImpl(0.0f /* x */, -1.0f /* y */,
+                0.0f /* sensorX */, 0.0f /* sensorY */, rotation))
+                .isEqualTo(touchHints[2])
+        // touch at 180 degrees -> 270 degrees
+        assertThat(controllerOverlay.onTouchOutsideOfSensorAreaImpl(-1.0f /* x */, 0.0f /* y */,
+                0.0f /* sensorX */, 0.0f /* sensorY */, rotation))
+                .isEqualTo(touchHints[3])
+        // touch at 270 degrees -> 0 degrees
+        assertThat(controllerOverlay.onTouchOutsideOfSensorAreaImpl(0.0f /* x */, 1.0f /* y */,
+                0.0f /* sensorX */, 0.0f /* sensorY */, rotation))
+                .isEqualTo(touchHints[0])
+    }
+
+    fun testTouchOutsideAreaNoRotation270Degrees() = withReason(REASON_ENROLL_ENROLLING) {
+        val touchHints =
+            context.resources.getStringArray(R.array.udfps_accessibility_touch_hints)
+        val rotation = Surface.ROTATION_270
+        // touch at 0 degrees -> 270 degrees
+        assertThat(controllerOverlay.onTouchOutsideOfSensorAreaImpl(0.0f /* x */, 0.0f /* y */,
+                0.0f /* sensorX */, 0.0f /* sensorY */, rotation))
+                .isEqualTo(touchHints[3])
+        // touch at 90 degrees -> 0 degrees
+        assertThat(controllerOverlay.onTouchOutsideOfSensorAreaImpl(0.0f /* x */, -1.0f /* y */,
+                0.0f /* sensorX */, 0.0f /* sensorY */, rotation))
+                .isEqualTo(touchHints[0])
+        // touch at 180 degrees -> 90 degrees
+        assertThat(controllerOverlay.onTouchOutsideOfSensorAreaImpl(-1.0f /* x */, 0.0f /* y */,
+                0.0f /* sensorX */, 0.0f /* sensorY */, rotation))
+                .isEqualTo(touchHints[1])
+        // touch at 270 degrees -> 180 degrees
+        assertThat(controllerOverlay.onTouchOutsideOfSensorAreaImpl(0.0f /* x */, 1.0f /* y */,
+                0.0f /* sensorX */, 0.0f /* sensorY */, rotation))
+                .isEqualTo(touchHints[2])
+    }
 }
 
 private class EnrollListener(