I don't know how you would write a law properly covering yellow lights without some allowance for human judgement. It's illogical to think that you should always be able to tell when the light is going to turn yellow and be able to stop, although that seems to be the pattern here, people slow down for green lights getting ready to stop. I think we would all go nuts out of impatience if they timed the red light cycles so that people who entered the intersection nanoseconds before the light turned red could clear the intersection before the opposing light turned green. I'm pretty sure I saw lights timed like that in France, and they drove me nuts. So what that leaves us with is that you are required to judge if it is safe to go when you get the walk signal or green light. Maybe this is just too hard now that we all have electronic devices ruling our lives.