The driver is correct. The law says you should stop. The law also says you should never exceed the speed limit, drive impaired, and lot of other things that self-righteous drivers who like to lecture cyclists ignore. Rolling through a stop sign when its crystal clear that no one is around is illegal, but perfectly safe. The point of stopping is to pause and take time to survey the situation. Since, on a bike, you are rolling comparatively slow and have really good visibility, you can usually read the situation without stopping. It may be 100% safe, but its not legal. Idaho got 1 thing right