JP2016111501A - Sensor and output method of sensor data and sensor system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a sensor of simple configuration capable of reducing ambiguity of the time interval of sensor data outputted, and capable of transmitting sensor data without lowering the transfer rate.SOLUTION: A sensor includes a sensor unit 11 where sensor data is updated at a first rate, a time data generation unit 15 for outputting the time data related to the update timing of the sensor data at the first rate, and an output unit 16 for outputting the sensor data and time data while converting into a serial message, at a second rate slower than the first rate, and dependent on the length of a message outputted. In particular, the sensor is suitable for transmitting data by SENT standard.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a sensor, a sensor data output method, and a sensor system, and more particularly to a sensor and sensor data output method that correspond to an in-vehicle communication standard and a sensor system.

Conventionally, in-vehicle sensors, control devices using in-vehicle sensors, systems using in-vehicle sensors, and the like are known. Specifically, a sensor detects a current, a speed, an angle, a position, a rotation direction, a rotation speed, a rotation angle, and the like related to a control target, and control is performed based on the detected sensor signal.
There are various in-vehicle communication standards such as PSI5 (Peripheral Sensor Interface 5) communication, DSI (Distributed System Interface) communication, SENT (Single Edge Nimble Transmission) standard as communication standards between the in-vehicle sensor and the control device. Various sensors have been proposed in response to such communication standards for in-vehicle sensors. One of them is a sensor that serially communicates data converted based on the time of the synchronization signal.

For example, Non-Patent Document 1 describes SENT communication that communicates sensor data based on a synchronization signal.
FIG. 1 is a diagram illustrating an example of a timing chart in the form disclosed in Non-Patent Document 1.
In this example, DATA1 and DATA6 are serially converted and transmitted to the control unit when parallel sensor data is sequentially from DATA1 to DATA8.
The message 1 includes a status signal, Signal1 (sensor data), Signal2, and CRC signal based on the time of the synchronization signal. Signal1 includes the captured DATA1.

Message 2 includes a status signal, Signal1 (sensor data), Signal2, and CRC signal based on the time of the synchronization signal. Signal1 includes the captured DATA6.
However, since the sensor data value is converted into the output pulse width and output, it is a PWM communication method in which the time length of the message changes. Therefore, the sensor data transmitted before and the sensor data transmitted later The time interval between and becomes unknown.

In FIG. 2, the vertical axis indicates sensor data values and sensor signals, and the horizontal axis indicates time. As shown in FIG. 2, the time interval of DATA6 or DATAX with respect to DATA1 is unknown. As a result, an error may occur in sensor data that is actually sensed from the sensor signal.
In order to solve this problem, Non-Patent Document 1 discloses a configuration in which Pause Pulse for aligning the message length is added after the CRC signal. Thereby, the time interval of messages can be made constant.
For example, Patent Documents 1 and 2 disclose a method of outputting sensor data according to a trigger signal from a control unit in a sensor having a bidirectional node.

JP 2013-546096 A US Patent Application Publication No. 2009/0046773

SENT-Single Edge Nibble Transmission for Automotive Applications, SAE J2716 JAN2010

However, since the method of Non-Patent Document 1 is a configuration in which an extra signal is added, there is a concern that the data transfer rate of the sensor output will be slow.
Further, the sensors of Patent Documents 1 and 2 require a bidirectional node, that is, an input / output terminal, and thus the configuration is complicated. In addition, disturbance noise may be recognized as a trigger signal, and the sensor may malfunction. In addition, since a waiting time for the trigger signal from the control side occurs, a delay occurs with respect to the actual sensor signal.
The present invention has been made in view of such a situation, and an object of the present invention is to reduce ambiguity in the time interval of sensor data to be output, and to reduce sensor data without lowering the transfer rate. An object of the present invention is to provide a sensor, a sensor data output method, and a sensor system having a simple configuration that can be transmitted.

In the first aspect of the present invention, a sensor unit that updates sensor data at a first rate, and a time data generation unit that outputs time data related to the update timing of the sensor data at the first rate, The sensor includes an output unit that converts the sensor data and the time data into a serial message at a second rate that is slower than the first rate and that corresponds to the output message length.
In the second aspect of the present invention, the step of updating the sensor data at a first rate, the step of counting the number of sensor data updates at the first rate, the sensor data and the number of updates are A step of acquiring synchronously at a second rate slower than the rate of 1, a step of converting the acquired sensor data and the number of updates based on a reference time of the synchronization signal, the synchronization signal, and the converted sensor Outputting the output data including the data and the number of updates to the unidirectional output terminal serially.

  In the third aspect of the present invention, the synchronization signal, the sensor data converted with reference to the synchronization signal, and the time converted with reference to the synchronization signal in relation to the update timing of the sensor data. Based on the input terminal to which output data including data is serially input, a decoder that restores sensor data and time data with reference to the time of the synchronization signal, and the restored time data and the synchronization signal, The control unit includes a data interval calculation unit that calculates a data interval between the previous sensor data and the subsequent sensor data, and an operation unit that performs an operation based on the data interval and the restored sensor data.

  In the fourth aspect of the present invention, a sensor unit that outputs sensor data, a time data generation unit that outputs the sensor data, a synchronization signal, and a time of the synchronization signal between the sensor data and the time data. An output unit that serially outputs output data including a signal converted with reference to a reference, a decoder that restores sensor data and time data with reference to the synchronization signal, and a synchronization with the restored time data A control unit comprising: a data interval calculation unit that calculates a data interval between the previous sensor data and the subsequent sensor data based on the activation signal; and a calculation unit that performs an operation based on the data interval and the restored sensor data And a sensor system comprising:

In the fifth aspect of the present invention, the step of updating the sensor data, the step of counting the number of updates of the sensor data, the step of acquiring the sensor data and the number of updates synchronously, the acquired sensor data, A step of converting the number of updates based on a reference time of the synchronization signal, a step of serially outputting the synchronization signal, the converted sensor data and the number of updates to a unidirectional output terminal, and the sensor data and the number of updates A step of restoring based on the synchronization signal, a step of calculating an acquisition interval of the sensor data based on the synchronization signal and the number of updates, and a filtering process based on the acquisition interval and the sensor data And a step of calculating sensor data.
In addition, the aspect mentioned above does not describe all the necessary characteristic configurations of the present invention, and the present invention can be configured by combining other configurations.

  According to the present invention, it is possible to reduce the ambiguity of the time interval of sensor data to be output, and it is possible to transmit sensor data without lowering the data transfer rate, and a sensor having a simple configuration and sensor data An output method and a sensor system can be provided.

It is a figure which shows an example of the timing chart of the form currently disclosed by the nonpatent literature 1. The vertical axis represents sensor data values and sensor signals. It is a figure which shows the sensor system provided with the control part and sensor which concern on this invention. It is a figure which shows the example of the data represented by the SENT specification which is an example of the data format of output data. (A) thru | or (d) is a figure which shows the timing chart in the sensor of this embodiment. The vertical axis represents sensor data values and sensor signals. It is a circuit block diagram for demonstrating Embodiment 1 of the sensor which concerns on this invention. FIG. 8 is a circuit block diagram of a calculation unit illustrated in FIG. 7. (A) thru | or (f) is a figure which shows the timing chart of the sensor shown in FIG. It is a circuit block diagram for demonstrating Embodiment 2 of the sensor which concerns on this invention. It is a circuit block diagram for demonstrating Embodiment 3 of the sensor which concerns on this invention. It is a circuit block diagram for demonstrating Embodiment 4 of the sensor which concerns on this invention.

In the following detailed description, numerous specific specific configurations are described to provide a thorough understanding of embodiments of the invention. However, it will be apparent that other embodiments may be practiced without limitation to such specific specific configurations. Further, the following embodiments do not limit the invention according to the claims, but include all combinations of characteristic configurations described in the embodiments.
Hereinafter, each embodiment of the present invention will be described with reference to the drawings. However, in all the drawings in the present specification, the same reference numerals are given to portions corresponding to each other, and description of the overlapping portions will be omitted as appropriate.

<Sensor system>
FIG. 3 is a diagram showing a sensor system including a control unit and a sensor according to the present invention.
The sensor 1 outputs output data including sensor data obtained by detecting a physical quantity such as a magnetic field, current, and angular velocity to the control unit 2. The control unit 2 controls the control target based on the input output data. For example, an electric power steering system using an EPS (electric power steering) torque sensor constituted by a magnetic sensor may be used. A magnetic field sensor detects a change in the magnetic field due to the movement of the handle, and outputs output data to an ECU (engine control unit) that is the control unit 2. The ECU controls the handle based on the received output data. Thereby, a smooth operation can be realized. The ECU may perform data processing such as filtering.

<SENT format>
FIG. 4 is a diagram illustrating an example of data represented by a SENT (Single Edge Nibble Transmission) standard (SAE J2716 standard), which is an example of a data format of output data.
The SENT standard is a method for communicating data as a digital output of a sensor according to the time from a falling edge to the next falling edge. The SENT standard is a method of communicating data by converting the time from the falling edge of the output signal to the next falling edge using the number of unit time width called tick as the digital output data of the sensor.
The time from the first falling edge to the second falling edge indicates a synchronization signal (Synchronization / Calibration). For example, if 1 tick is 3 μs, the synchronization signal is 56 ticks in FIG. This synchronization signal becomes a reference time for subsequent signals.

The time from the second falling edge to the third falling edge indicates the status signal (Status & Communication).
After the third falling edge, data to be transmitted such as sensor data is indicated (Signal1 / Data1, Signal1 / Data2, Signal1 / Data3, Signal2 / Data1, Signal2 / Data2, Signal2 / Data3). Communication is performed by converting the data value as the time from the fall to the next fall based on the time of the synchronization signal. Therefore, the time for outputting the data to be transmitted varies depending on the data value.

Then, an error detection signal (CRC / Checksum) that is an error detection code is output. This error detection signal is a signal for confirming whether an error signal or the like is included in the sensor data.
As described above, in the case of a sensor that serially communicates data converted based on the time of the synchronization signal, the message length from the synchronization signal to the CRC signal changes depending on the sensor data value to be transmitted.

<Embodiment>
The sensor of the present embodiment includes a sensor unit that updates sensor data at a first rate, a time data generation unit that outputs time data related to sensor data update timing at a first rate, and a first rate. An output unit that serially outputs output data (message) including a signal obtained by converting the synchronization signal, the sensor data, and the time data at a second rate corresponding to the message length with the time of the synchronization signal as a reference. .

FIGS. 5A to 5D are timing charts in the sensor of the present embodiment.
The sensor data is updated at the first rate (update rate) in order from DATA1. In response to the update, a time stamp that is time data is output from the time data generation unit. Then, sensor data (FIG. 5A) and time data (FIG. 5B) are taken into the output unit at the timing of acquiring data to be output externally. The acquired sensor data and time data are converted on the basis of the synchronization signal and serially output as output data. The acquisition timing (FIG. 5C) is slower than the update rate and corresponds to the second rate (output rate) corresponding to the message length output to the outside.
Message 1 that is output data (FIG. 5D) includes a synchronization signal, a status signal, sensor data (DATA1), time data (timestamp 1), and a CRC signal.

Message 2 which is output data includes a synchronization signal, a status signal, sensor data (DATA 6), time data (time stamp 6), and a CRC signal.
Messages are serially output serially and externally.
In this manner, time data related to the timing at which sensor data is updated or taken in is generated, and serial communication is performed on the sensor data and the time data with reference to the synchronization signal.
As a result, the ambiguity of the time interval of the sensor data to be output can be reduced, and the sensor data can be transmitted without reducing the data transfer rate.

In FIG. 6, the vertical axis indicates sensor data values and sensor signals, and the horizontal axis indicates time. As shown in FIG. 6, it is possible to transmit time data corresponding to the output sensor data to the control unit, so that it is possible to reduce ambiguity in the time interval of DATA6 or DATAX with respect to DATA1. Thereby, the error with respect to the sensor signal which actually sensed the physical quantity can be reduced in the output sensor data.
For example, in an electric power steering system using an EPS torque sensor composed of a magnetic sensor, a case is assumed where a handle that is a control target is turned off. In the present embodiment, since the control unit knows the sensor data interval, an error with respect to an actual signal can be reduced, and a smooth operation can be realized. Furthermore, in the case of a system in which data such as filtering is processed by an ECU that is a control unit, the data processing can be performed with high accuracy because there is information on the data interval. Thereby, in the filter processing, desired filter characteristics can be obtained, and error factors can be reduced.

  Moreover, since it is not the form which uses the trigger signal from a control part, it can be set as the sensor of a unidirectional output terminal. Therefore, the sensor has a simple configuration, and sensor malfunction due to disturbance noise being recognized as a trigger signal can be reduced. In addition, since there is no waiting time for the trigger signal from the control side, the delay with respect to the actual sensor signal can be reduced. Thereby, since an error with respect to an actual sensor signal can be reduced, the control target can be controlled with better timing.

<Embodiment 1>
FIG. 7 is a circuit block diagram for explaining Embodiment 1 of the sensor according to the present invention. The sensor according to the first embodiment includes a sensor element 11, an amplifier 12, an AD converter 13, a calculation unit 14, a counter 15, an output unit 16, and a unidirectional output terminal 17. The unidirectional output terminal 17 is externally connected to a pull-up resistor 18 with respect to the power supply voltage node.
The sensor element 11 is an element that detects and outputs a physical quantity, such as a magnetic sensor such as a Hall element, a current sensor, an acceleration sensor, an angular velocity sensor, or a pressure sensor. The amplifier 12 amplifies and outputs the signal output from the sensor element 11.
The AD converter 13 AD converts the analog signal amplified by the amplifier 12 into a digital signal. The calculation unit 14 performs a predetermined calculation on the digital signal and outputs sensor data.

FIG. 8 is a circuit block diagram of the arithmetic unit shown in FIG.
The calculation unit 14 includes a digital calculation unit 31 and a sensor data storage unit 32. The digital calculation unit 31 calculates a digital signal, and the calculated signal is stored in the sensor data storage unit 32 according to the sensor data storage signal. The The stored signal is output as sensor data. That is, the sensor data is updated and output according to the sensor data storage signal. As long as the signal is related to the update timing of the sensor data, a calculation completion signal that has been calculated by the calculation unit 14 may be used instead of the sensor data storage signal.

The counter 15 that is a time data generation unit updates the count value in accordance with the update of the sensor data. Specifically, the counter value is updated every time the sensor data is updated in the sensor data storage unit 32.
FIG. 7 described above is a form in which the count value is updated according to the sensor data storage signal of the calculation unit. Time data corresponding to the update timing of the sensor data can be generated.
The output unit 16 includes a sensor data acquisition unit 23, a counter value acquisition unit (time data acquisition unit) 21, an encoder 22, an output driver 25, and a control circuit 24.

The sensor data acquisition unit 23 and the counter value acquisition unit 21 respectively acquire output signals from the sensor data storage unit 32 and the counter 15 according to the acquisition control signal related to the acquisition timing from the control circuit 24. If the sensor data and the count value are acquired at the same timing, time data that matches the update timing of the sensor data can be output. Note that the acquisition timing includes, for example, the latter half of the section in the section where the synchronization signal is output.
The encoder 22 converts the acquired sensor data and time data according to the control signal from the control circuit 24 on the basis of the time of the synchronization signal and serially outputs it to the output driver. In addition, a signal that becomes a synchronization signal, a status signal, and a CRC signal is serially output to the output driver.

Based on the signal from the encoder 22, the output driver 25 serially outputs a synchronization signal, a status signal, sensor data, time data, and a CRC signal.
9A to 9F are diagrams illustrating timing charts of the sensor illustrated in FIG.
The sensor data storage unit 32 is updated in order from DATA1, which is sensor data (FIG. 9A), in accordance with the sensor data storage signal.
In synchronization with the update timing of the sensor data, the count value (FIG. 7B) is counted up in order from the preset value by the sensor data storage signal.

Sensor data (DATA1, DATA6) (FIG. 7 (d)) is stored in the sensor data acquisition unit 23 according to the acquisition control signal related to the acquisition timing (FIG. 7 (c)) of the control circuit 24, and the counter value acquisition unit 21. The count value (1, 6) (FIG. 7E) is stored.
With respect to the stored data, output data (FIG. 7 (f)) is output from the unidirectional output terminal 17 with reference to the synchronization signal.
As described above, time information related to the timing at which sensor data is acquired as output data is also transmitted simultaneously. The time data may be output as a status signal, or the sensor data may be output after the time data is output.

<Embodiment 2>
FIG. 10 is a circuit block diagram for explaining Embodiment 2 of the sensor according to the present invention. Reference numeral 26 in the figure denotes a control unit. In addition, the same code | symbol is attached | subjected to the component which has the same function as FIG.
The second embodiment is not a sensor data storage signal from the calculation unit 14 but a signal that generates a timing to be output from the AD converter 13 to the calculation unit 14, and AD conversion completion or AD conversion result is updated. In this mode, the counter updates the count value according to the signal.

<Embodiment 3>
FIG. 11 is a circuit block diagram for explaining Embodiment 3 of the sensor according to the present invention. In addition, the same code | symbol is attached | subjected to the component which has the same function as FIG.
In the third embodiment, the control unit 26 controls the acquisition timing of the sensor data acquisition unit 23 and the counter value acquisition unit 21.
Even if it is a form which takes in each data at the same time, a form which takes in data at a different timing may be sufficient.

<Embodiment 4>
FIG. 12 is a circuit block diagram for explaining Embodiment 4 of the sensor according to the present invention, and is a circuit block diagram of the control unit 26 shown in FIG. The control part 26 of this Embodiment 4 is a form which calculates to the output data from a sensor. In the figure, reference numeral 27 denotes an output terminal.
The control unit 26 includes an input terminal 19, a decoder unit 40, a storage unit 42, and a data calculation unit 50.

Output data including synchronization signals, sensor data, and time data from the sensor is serially input to the input terminal 19.
The decoder 41 restores (decodes) the sensor data and time data with reference to the time of the synchronization signal. Moreover, the form which has a function which implements an error detection using a CRC signal may be sufficient.
The restored signal is stored in the storage unit 42. The storage unit 42 includes a reference time storage unit 421, a time data storage unit 422, and a sensor data storage unit 423.

The reference time storage unit 421 stores a reference time that is a reference for restoration obtained from the synchronization signal. Alternatively, one unit of the reference time may be stored. For example, in the case of SENT communication, data related to the length of 1 tick which is a unit of the reference time of the synchronization signal is stored.
The time data storage unit 422 stores the restored time data. Specifically, the count value is stored.
The sensor data storage unit 423 stores the restored sensor data. The storage unit 42 may store the restored state signal.

The data calculation unit 50 performs a calculation based on the data stored in the storage unit 42. The data calculation unit 50 includes a data interval calculation unit 51, an interpolation calculation unit 52, and a filter calculation unit 53.
The data interval calculation unit 51 calculates the interval of sensor data output from the sensor based on the output from the reference time storage unit 421 and the output from the time data storage unit. That is, the information regarding the acquisition interval at which the sensor data is acquired is calculated. Specifically, in the case of SENT communication, the data interval is calculated based on the difference between the length of 1 tick and the counter value between messages. In the timing charts of FIGS. 5 and 6, the data interval between DATA1 and DATA6 is calculated from 5 (count value 6−count value 1) which is the difference between the counter values and 3 μs which is the length of 1 tick.

In the case of SENT communication, in the process of reading data, the length of 1 tick is measured from the synchronization signal. By using the information, an accurate sensor data update interval can be known. Even if the actually measured 1 tick length is different from the preset 1 tick length, the sensor data interval is calculated based on the actually measured 1 tick length. A value is obtained.
Furthermore, for example, when time information that is 1 at the first power-on time and 0 after the second time is included in the output data from the sensor, not only the interval between data but also the time from the power-up time. Therefore, more advanced information processing becomes possible.

Based on the output from the sensor data storage unit 423 and the output of the data interval calculation unit 51, the interpolation calculation unit 52 performs a calculation for interpolating data between the obtained sensor data. In the fourth embodiment, since the data interval is known, it is possible to interpolate between the data with higher accuracy. In FIG. 6, assuming that the sensor signal changes linearly, data can be interpolated between DATA1 and DATA6 by a first-order approximation curve based on the data interval. In addition to the primary interpolation, there are zero-order interpolations as the interpolation calculation method. Further, since the data interval is known, it is also possible to perform interpolation so that each interpolated data becomes equal intervals. That is, the interpolation calculation unit 52 restores data sampled at equal intervals. In addition, when temperature information is included in the output data from the sensor, a correction calculation may be performed.
The filter calculation unit 53 performs filter processing on the output of the interpolation calculation unit 52. In addition, when data is interpolated at equal intervals, the sampling timing can be equal.
The output terminal 27 of the control unit may be a unidirectional output terminal or a bidirectional output terminal.

<Embodiment 5>
The sensor system of the fifth embodiment converts a sensor unit that outputs sensor data, a time data generation unit that outputs sensor data, a synchronization signal, and the sensor data and the time data based on the time of the synchronization signal. Based on the restored time data and the synchronization signal, a sensor including an output unit that serially outputs output data including the received signal, a decoder that restores the sensor data and the time data on the basis of the synchronization signal, And a control unit including a data interval calculation unit that calculates a data interval between the previous sensor data and the subsequent sensor data, and a calculation unit that performs a calculation based on the data interval and the restored sensor data.
A unidirectional output terminal of the sensor and an input terminal of the control unit are connected by one node, and a pull-up resistor for a power supply voltage node is connected to the node.
The output part of the sensor has an NMOS which is an output driver connected between the ground potential and the unidirectional output terminal.

<Sixth Embodiment>
The sensor data transmission method according to the sixth embodiment includes a step of updating sensor data, a step of counting the number of updates of sensor data, a step of acquiring sensor data and the number of updates in synchronization, and the acquired sensor data The step of converting the number of updates based on the reference time of the synchronization signal, and the step of serially outputting the synchronization signal, the converted sensor data, and output data including the number of updates to the unidirectional output terminal. Have.

<Seventh Embodiment>
The sensor data calculation method of the seventh embodiment includes a step of updating sensor data, a step of counting the number of updates of sensor data, a step of acquiring sensor data and the number of updates in synchronization, and the acquired sensor data The step of converting the update count based on the reference time of the synchronization signal, the step of serially outputting the synchronization signal, the converted sensor data and the update count to the unidirectional output terminal, the sensor data and the update count, Restoring based on the synchronization signal, calculating the sensor data acquisition interval based on the synchronization signal and the number of updates, filtering based on the acquisition interval and the sensor data, Have

<Embodiment 8>
The sensor of the eighth embodiment includes a unidirectional output node, and is converted with reference to the synchronization signal, the sensor data converted with reference to the synchronization signal, and the update timing of the sensor data. The output data including the time data and the error detection signal (CRC signal) is continuously output serially to the unidirectional output node.

<Ninth Embodiment>
The communication system according to the ninth embodiment includes a sensor unit that outputs data, a time data generation unit that outputs data, a synchronization signal, and a signal obtained by converting data and time data with reference to the time of the synchronization signal. An output unit that serially outputs output data, a transmission unit, a decoder that restores data and time data with reference to the synchronization signal, and the previous data based on the restored time data and synchronization signal And a data interval calculation unit that calculates the data interval of the subsequent data, and a reception unit that includes an operation unit that performs an operation based on the data interval and the restored data.

The sensor system of this embodiment may be configured to include a plurality of sensors.
In the description of the present embodiment, the open drain NMOS has been described, but the output driver may be configured by CMOS.
As mentioned above, although embodiment of this invention was described, the technical scope of this invention is not limited to the technical scope as described in embodiment mentioned above. It is possible to add various changes or improvements to the above-described embodiments, and it is possible to add such changes or improvements to the technical scope of the present invention. it is obvious.

DESCRIPTION OF SYMBOLS 1 Sensor 2 Control part 11 Sensor element 12 Amplifier 13 AD converter 14 Calculation part 15 Counter 16 Output part 17 Unidirectional output terminal 18 Pull-up resistor 19 Input terminal 21 Counter value acquisition part 22 Encoder 23 Sensor data acquisition part 24 Control circuit 25 Output driver 26 Control unit 27 Output terminal 31 Digital operation unit 32 Sensor data storage unit 40 Decoder unit 42 Storage unit 50 Data operation unit 41 Decoder 42 storage unit 421 Reference time storage unit 422 Time data storage unit 423 Sensor data storage unit 50 Data operation Unit 51 Data interval calculation unit 52 Interpolation calculation unit 53 Filter calculation unit

Claims (16)

A sensor unit in which sensor data is updated at a first rate;
A time data generation unit that outputs time data related to the update timing of the sensor data at the first rate;
An output unit that converts the sensor data and time data into a serial message at a second rate that is slower than the first rate and that corresponds to the message length to be output;
Comprising a sensor.   The sensor according to claim 1, wherein the output unit acquires sensor data and time data at the second rate, and converts the acquired sensor data and time data into a serial message.   The sensor according to claim 1, wherein the output unit converts the sensor data and time data into a serial message by converting the time of the synchronization signal as a reference.   The sensor according to claim 3, wherein the output unit continuously outputs the synchronization signal, a signal obtained by converting the sensor data and the time data, and output data including an error detection signal serially.   The sensor according to any one of claims 1 to 4, wherein the output unit includes an acquisition unit that acquires updated sensor data and time data related to the update timing in synchronization. The output unit is
A sensor data acquisition unit for acquiring the sensor data;
A time data acquisition unit for acquiring the time data;
A control unit for controlling the sensor data acquisition unit and the time data acquisition unit so as to acquire the sensor data and the time data synchronously;
An encoder that converts the acquired sensor data and time data into a signal based on a synchronization signal;
The sensor according to claim 1, further comprising: an output driver that outputs serially based on an output of the encoder.   The sensor according to claim 1, wherein the time data generation unit is a counter that counts the number of updates of the sensor data. The sensor unit includes a sensor data storage unit that stores the sensor data,
The sensor according to claim 7, wherein the counter counts every time sensor data is stored in the sensor data storage unit.   The sensor according to claim 1, further comprising a unidirectional output terminal, wherein the output unit outputs serially to the unidirectional output terminal. Updating the sensor data at a first rate;
Counting the number of sensor data updates at the first rate;
Obtaining the sensor data and the update count synchronously at a second rate slower than the first rate;
Converting the acquired sensor data and the number of updates based on the reference time of the synchronization signal;
Serially outputting the synchronization signal, converted sensor data, and output data including the number of updates to a unidirectional output terminal;
A method for outputting sensor data. Output data including a synchronization signal, sensor data converted using the synchronization signal as a reference, and time data converted using the synchronization signal as a reference related to the update timing of the sensor data are serially input. Input terminal
A decoder that restores sensor data and time data with reference to the time of the synchronization signal;
A data interval calculation unit for calculating a data interval between the previous sensor data and the subsequent sensor data based on the restored time data and the synchronization signal;
A calculation unit that performs a calculation based on the data interval and the restored sensor data;
A control unit.   The control unit according to claim 11, wherein the calculation unit interpolates data between the previously restored sensor data and the subsequent sensor data based on the data interval.   The control unit according to claim 12, wherein the calculation unit performs an interpolation calculation on data between the previously restored sensor data and the subsequent sensor data at equal intervals based on the data interval.   The control unit according to claim 11, wherein the time data is a counter value that counts the number of updates of sensor data. Output data including a sensor unit that outputs sensor data, a time data generation unit that outputs the sensor data, a synchronization signal, and a signal obtained by converting the sensor data and the time data on the basis of the time of the synchronization signal An output unit that serially outputs a sensor,
A decoder that restores sensor data and time data based on the synchronization signal, and a data interval calculation that calculates a data interval between the previous sensor data and the subsequent sensor data based on the restored time data and the synchronization signal. And a control unit that performs a calculation based on the data interval and the restored sensor data; and
A sensor system comprising: Updating the sensor data;
Counting the number of sensor data updates;
Obtaining the sensor data and the update count synchronously;
Converting the acquired sensor data and the number of updates based on the reference time of the synchronization signal;
Serially outputting the synchronization signal, converted sensor data and the number of updates to a unidirectional output terminal;
Restoring the sensor data and the number of updates based on the synchronization signal;
Calculating an acquisition interval of the sensor data based on the synchronization signal and the update count;
Filtering based on the acquisition interval and the sensor data;
A method for calculating sensor data.

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