No one wants to risk a ticket with a guess at how long the yellow is going to be, or whether they’ll make it thru or not. That is the unsolvable part. Yellows are inconsistent , and you aren’t accounting for slow-moving traffic ahead of you that might cause you to block the intersection, etc.

There was actually a scandal in Chicago were a study found that the city systematically reduced the length of yellows only on lights that had red light cameras in order to harvest tickets.

Then they shorten the yellow so that it isn't "with a mild deceleration" but a full-on stomp-on-the-brakes stop.