The present disclosure relates to a method and device for controlling a street lamp, a street lamp and a readable storage medium. The method is applied to a street lamp. First, the street lamp acquires the lights of vehicles passing under the street lamp from the first preset moment, and then , determine the appropriate lighting time of the street lamp according to the vehicle opening condition, and finally, control the street lamp to be lit according to the appropriate lighting time, therefore, the lighting time of the street lamp is no longer fixed, but according to the actual It is determined by the turning on of the lights of the vehicle under the street lamp, which improves the flexibility of the lighting time of the street lamp. At the same time, the street lamp will only be lit when the driver of the vehicle needs the auxiliary lighting of the street lamp. Therefore, the street lamp is improved. In addition, when the driver of the vehicle does not need the auxiliary lighting of the street lamp, the street lamp is turned off, thereby avoiding the waste of electric energy by the street lamp and prolonging the service life of the street lamp.