Icy conditions are maybe predictable (ok, it's under 0°C outside), but yellow light times (edit: the time between the light turning yellow and the light turning red) are not.
Yellow light turns are predictable in that you know that they'll happen, just not when. So if you have a heavy load or other adverse conditions you should slow down to a speed where you could stop at the correct distance. Software should do an even better job of predicting the weight to speed to stopping distance ratios.
You don't know how long the yellow light will last before turning red. That time is variable from light to light and essentially unpredictable to drivers.
