A method of controlling traffic, comprising: acquiring (S210) a pre-estimated driving duration for a target vehicle from a current position to a stop line of an intersection; determining (S220) a first change information for traffic lights at the intersection, based on the pre-estimated driving duration; acquiring (S230) a traffic status information for an intersecting lane that intersects a lane at which the target vehicle is located; and adjusting (S240) the first change information based at least on the traffic status information for the intersecting lane, to obtain a second change information, in response to the traffic status information meeting a preset status condition, so as to control the traffic lights based on the second change information, characterized in that the acquiring (S210) a pre-estimated driving duration for a target vehicle from a current position to a stop line of an intersection comprises: acquiring road monitored images by collecting a road monitored image every predetermined duration; determining, for each of the road monitored images, three-dimensional coordinates of the target vehicle in a three-dimensional space and a driving speed of the target vehicle; and determining the pre-estimated driving duration based on current three-dimensional coordinates of the target vehicle and a current driving speed of the target vehicle determined for a current road monitored image, in response to the driving speed of the target vehicle meeting a uniform speed condition, wherein the driving speed of the target vehicle is determined for the current road monitored image and a plurality of consecutive road monitored images previous to the current road monitored image. acquiring (S210) a pre-estimated driving duration for a target vehicle from a current position to a stop line of an intersection; determining (S220) a first change information for traffic lights at the intersection, based on the pre-estimated driving duration; acquiring (S230) a traffic status information for an intersecting lane that intersects a lane at which the target vehicle is located; and adjusting (S240) the first change information based at least on the traffic status information for the intersecting lane, to obtain a second change information, in response to the traffic status information meeting a preset status condition, so as to control the traffic lights based on the second change information, characterized in that the acquiring (S210) a pre-estimated driving duration for a target vehicle from a current position to a stop line of an intersection comprises: acquiring road monitored images by collecting a road monitored image every predetermined duration; determining, for each of the road monitored images, three-dimensional coordinates of the target vehicle in a three-dimensional space and a driving speed of the target vehicle; and determining the pre-estimated driving duration based on current three-dimensional coordinates of the target vehicle and a current driving speed of the target vehicle determined for a current road monitored image, in response to the driving speed of the target vehicle meeting a uniform speed condition, wherein the driving speed of the target vehicle is determined for the current road monitored image and a plurality of consecutive road monitored images previous to the current road monitored image. <EOS>