Under what condition can you continue through a yellow light?

Continuing through a yellow light is permissible when you are already within the intersection. This scenario reflects the principle that when the light turns yellow, it signals to drivers that they should prepare to stop. However, if you are already in the intersection when the light changes, it is generally safer to continue moving through it rather than attempting a sudden stop, which could create a hazard for yourself and others on the roadway.

The other options do not provide appropriate conditions for proceeding through a yellow light. If you are far enough back to stop safely, it would imply that you should come to a stop rather than continue driving. The presence of vehicles behind you might indicate that it’s safer to maintain your speed, but it's not a factor for defining whether you can proceed. Similarly, the presence of pedestrians crossing would necessitate a stop to prioritize their safety, making it inappropriate to continue through the intersection at that point.