A computer-implemented method for outputting early warning information based on a driving assistance system, the driving assistance system is provided in a vehicle-mounted terminal, characterized in that, both a first corresponding relationship between vehicle traveling information and a preset sensing frame rate and a second corresponding relationship between the vehicle traveling information and a preset early warning frame rate are set in the vehicle-mounted terminal in advance, the method comprises: acquiring both the preset sensing frame rate and the preset early warning frame rate corresponding to the vehicle traveling information according to the vehicle traveling information acquired by the vehicle-mounted terminal, the first corresponding relationship and the second corresponding relationship; performing, according to the preset sensing frame rate, sensing processing on acquired sensor data to obtain a sensing result; wherein the sensor data is used for determining an environment around a vehicle; and determining, according to the sensing result and the preset early warning frame rate, a target early warning frame rate, and performing, according to the target early warning frame rate, early warning processing on the sensing result to obtain an early warning result of the vehicle, wherein the early warning result is used for outputting early warning information; wherein the performing, according to the preset sensing frame rate, sensing processing on the acquired sensor data to obtain the sensing result comprises: determining, according to the preset sensing frame rate, to-be-processed sensing data in the sensor data; and performing sensing processing on the to-be-processed sensing data to obtain the sensing result; wherein the performing, according to the target early warning frame rate, early warning processing on the sensing result to obtain the early warning result of the vehicle comprises: determining, according to the target early warning frame rate, a to-be-processed sensing result in the sensing result; and performing early warning processing on the to-be-processed sensing result to obtain the early warning result of the vehicle. acquiring both the preset sensing frame rate and the preset early warning frame rate corresponding to the vehicle traveling information according to the vehicle traveling information acquired by the vehicle-mounted terminal, the first corresponding relationship and the second corresponding relationship; performing, according to the preset sensing frame rate, sensing processing on acquired sensor data to obtain a sensing result; wherein the sensor data is used for determining an environment around a vehicle; and determining, according to the sensing result and the preset early warning frame rate, a target early warning frame rate, and performing, according to the target early warning frame rate, early warning processing on the sensing result to obtain an early warning result of the vehicle, wherein the early warning result is used for outputting early warning information; wherein the performing, according to the preset sensing frame rate, sensing processing on the acquired sensor data to obtain the sensing result comprises: determining, according to the preset sensing frame rate, to-be-processed sensing data in the sensor data; and performing sensing processing on the to-be-processed sensing data to obtain the sensing result; wherein the performing, according to the target early warning frame rate, early warning processing on the sensing result to obtain the early warning result of the vehicle comprises: determining, according to the target early warning frame rate, a to-be-processed sensing result in the sensing result; and performing early warning processing on the to-be-processed sensing result to obtain the early warning result of the vehicle. determining, according to the preset sensing frame rate, to-be-processed sensing data in the sensor data; and performing sensing processing on the to-be-processed sensing data to obtain the sensing result; wherein the performing, according to the target early warning frame rate, early warning processing on the sensing result to obtain the early warning result of the vehicle comprises: determining, according to the target early warning frame rate, a to-be-processed sensing result in the sensing result; and performing early warning processing on the to-be-processed sensing result to obtain the early warning result of the vehicle. determining, according to the target early warning frame rate, a to-be-processed sensing result in the sensing result; and performing early warning processing on the to-be-processed sensing result to obtain the early warning result of the vehicle.