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At an intersection, a steady yellow traffic signal indicates that you must

A stop before the intersection if it is safe to do so.

A steady yellow traffic light is a warning that the traffic light will soon turn red. You should try to stop if it is safe to do so. (Never speed up to try to "beat the light" before it turns red.) But don't stop suddenly and risk getting rear-ended by the vehicle behind you. If you cannot stop safely, proceed with caution through the intersection.