diff --git a/src/common/config.py b/src/common/config.py
index b3b68eb..db73bd7 100644
--- a/src/common/config.py
+++ b/src/common/config.py
@@ -22,7 +22,7 @@
 
 # テレメトリメッセージのプロトコルバージョン
 # Pi/PC 間でこの値が一致しないと正しくパースできない
-TELEMETRY_VERSION: int = 2
+TELEMETRY_VERSION: int = 3
 
 # ── ネットワーク設定（.env から読み込み） ──────────────────────
 
diff --git a/src/pc/gui/telemetry_display.py b/src/pc/gui/telemetry_display.py
index bc1c343..8cca816 100644
--- a/src/pc/gui/telemetry_display.py
+++ b/src/pc/gui/telemetry_display.py
@@ -31,6 +31,7 @@
     is_intersection: bool = False
     is_recovering: bool = False
     intersection_available: bool = False
+    compute_ms: float = 0.0
     fps: float = 0.0
     throttle: float = 0.0
     steer: float = 0.0
@@ -100,6 +101,9 @@
         self.state.intersection_available = telemetry.get(
             "intersection_available", False,
         )
+        self.state.compute_ms = telemetry.get(
+            "compute_ms", 0.0,
+        )
         self.state.fps = telemetry.get("fps", 0.0)
         self.state.throttle = telemetry.get(
             "throttle", 0.0,
@@ -122,10 +126,15 @@
         self._update_detect_info_label()
 
         # パフォーマンス表示
-        self._perf_label.setText(
+        perf_text = (
             f"recv FPS: {self._recv_fps:.1f}"
             f"  Pi FPS: {self.state.fps:.1f}"
         )
+        if self.state.compute_ms > 0.0:
+            perf_text += (
+                f"  計算: {self.state.compute_ms:.1f}ms"
+            )
+        self._perf_label.setText(perf_text)
 
         self._display_frame(frame, overlay_flags)
         return True
diff --git a/src/pi/comm/zmq_client.py b/src/pi/comm/zmq_client.py
index 8a150b2..f12ee99 100644
--- a/src/pi/comm/zmq_client.py
+++ b/src/pi/comm/zmq_client.py
@@ -62,6 +62,7 @@
         is_intersection: bool,
         is_recovering: bool,
         intersection_available: bool,
+        compute_ms: float,
         fps: float,
         binary_image: np.ndarray | None = None,
     ) -> None:
@@ -83,6 +84,7 @@
             is_intersection: 十字路と判定されたか
             is_recovering: 復帰動作中か
             intersection_available: 十字路分類器が利用可能か
+            compute_ms: 操舵計算時間（ミリ秒）
             fps: Pi 側の処理 FPS
             binary_image: 二値画像（None で省略）
         """
@@ -102,6 +104,7 @@
             "intersection_available": (
                 intersection_available
             ),
+            "compute_ms": compute_ms,
             "fps": fps,
         }
 
diff --git a/src/pi/main.py b/src/pi/main.py
index 266ab94..3b8f27b 100644
--- a/src/pi/main.py
+++ b/src/pi/main.py
@@ -57,6 +57,10 @@
     frame_count = 0
     fps_start = time.time()
     current_fps = 0.0
+    compute_ms_avg = 0.0
+    compute_ms_sum = 0.0
+    compute_count = 0
+    compute_start = time.time()
 
     try:
         camera.start()
@@ -132,6 +136,7 @@
 
             if mode == "auto":
                 # 線検出 + 制御
+                t_start = time.time()
                 output = steering.compute(frame)
                 det = steering.last_detect_result
 
@@ -181,6 +186,18 @@
 
                 throttle = output.throttle
                 steer = output.steer
+                compute_ms_sum += (
+                    (time.time() - t_start) * 1000.0
+                )
+                compute_count += 1
+                ce = time.time() - compute_start
+                if ce >= 1.0:
+                    compute_ms_avg = (
+                        compute_ms_sum / compute_count
+                    )
+                    compute_ms_sum = 0.0
+                    compute_count = 0
+                    compute_start = time.time()
 
             elif mode == "manual":
                 throttle = manual_throttle
@@ -215,6 +232,7 @@
                 intersection_available=(
                     intersection_clf.available
                 ),
+                compute_ms=compute_ms_avg,
                 fps=current_fps,
                 binary_image=binary_image,
             )