The present disclosure relates to a method, device, computer readable media, and electronic devices for identifying a traffic light signal from an image. The method for identifying a traffic light signal from an image includes extracting, based on a deep neural network, multiple layers of first feature maps corresponding to different layers of the deep neural network from the image. The method includes selecting at least two layers of the first feature maps having different scales from the multiple layers of the first feature maps. The method includes inputting the at least two layers of the first feature maps to a convolution layer having a convolution kernel matching a shape of a traffic light to obtain a second feature map. The method includes obtaining a detection result of the traffic light signal based on the second feature map.