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This depends on a lot of things. Here's a mini check list I go through:
How long is this yellow? (if it's a light I go through regularly)
Sensor triggered or timed?
How large of a road? (smaller triggered roads tend to trigger faster for stopped traffic than larger roads)
How fast am I going?
How close is the car behind, and what has his behavior been like thus far?
Cops?
95% of the lights in my city are "trigger" lights, so I coast down if there is cross traffic that has been there. Most of the time I have a commit distance made up in my head well before light switches yellow, if I am passed that number I accelerate or continue coasting. If I am behind I usually coast to a stop/brake.
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