A vehicle control method performed by a vehicle control apparatus, the method comprising: acquiring a traffic light image of an intersection at a driving direction of a vehicle; identifying the traffic light image and determining a first light color of a target traffic light corresponding to a lane on which the vehicle is located; acquiring latest recorded light color change information of the target traffic light, wherein the latest recorded light color change information of the target traffic light is light color change information of the target traffic light that is latest recorded before a current moment; determining, according to the latest recorded light color change information of the target traffic light, remaining duration of the first light color; determining, according to the first light color and the remaining duration of the first light color, a driving strategy at the intersection of the vehicle; wherein the latest recorded light color change information comprises a second light color after changing and a changing moment, and the determining, according to the latest recorded light color change information of the target traffic light, the remaining duration of the first light color comprises: determining the remaining duration of the first light color according to the second light color, the changing moment, a light color change rule of the target traffic light and preset duration corresponding to a respective light color; wherein the latest recorded light color change information of the target traffic light further comprises a light color before changing, and the method further comprises: determining whether latest light color change information of the target traffic light complies with a traffic light period change rule according to the light color before changing, the second light color after changing and the changing moment; in a condition that the latest light color change information complies with the traffic light period change rule, recording the latest light color change information as the latest recorded light color change information of the target traffic light; and in a condition that the latest light color change information fails to comply with the traffic light period change rule, removing the latest light color change information. acquiring a traffic light image of an intersection at a driving direction of a vehicle; identifying the traffic light image and determining a first light color of a target traffic light corresponding to a lane on which the vehicle is located; acquiring latest recorded light color change information of the target traffic light, wherein the latest recorded light color change information of the target traffic light is light color change information of the target traffic light that is latest recorded before a current moment; determining, according to the latest recorded light color change information of the target traffic light, remaining duration of the first light color; determining, according to the first light color and the remaining duration of the first light color, a driving strategy at the intersection of the vehicle; wherein the latest recorded light color change information comprises a second light color after changing and a changing moment, and the determining, according to the latest recorded light color change information of the target traffic light, the remaining duration of the first light color comprises: determining the remaining duration of the first light color according to the second light color, the changing moment, a light color change rule of the target traffic light and preset duration corresponding to a respective light color; wherein the latest recorded light color change information of the target traffic light further comprises a light color before changing, and the method further comprises: determining whether latest light color change information of the target traffic light complies with a traffic light period change rule according to the light color before changing, the second light color after changing and the changing moment; in a condition that the latest light color change information complies with the traffic light period change rule, recording the latest light color change information as the latest recorded light color change information of the target traffic light; and in a condition that the latest light color change information fails to comply with the traffic light period change rule, removing the latest light color change information. determining whether latest light color change information of the target traffic light complies with a traffic light period change rule according to the light color before changing, the second light color after changing and the changing moment; in a condition that the latest light color change information complies with the traffic light period change rule, recording the latest light color change information as the latest recorded light color change information of the target traffic light; and in a condition that the latest light color change information fails to comply with the traffic light period change rule, removing the latest light color change information.