From www.revisor.leg.state.mn.us, under 169.06 Subd. 5. Traffic-control signal, Paragraphs 2 & 3Yes, there is a law. It'll be under MN statute 169. I believe Bill Kahn was explaining the difference between what constitutes a car in the intersection versus one that is not in the intersection with the light turns red.
Allen Graetz Lowry Hill
(2) Steady yellow indication:
(i) Vehicular traffic facing a circular yellow signal is
thereby warned that the related green movement is being
terminated or that a red indication will be exhibited
immediately thereafter when vehicular traffic shall not enter
the intersection...
(3) Steady red indication: (i) Vehicular traffic facing a circular red signal alone shall stop at a clearly marked stop line, but if none, before entering the crosswalk on the near side of the intersection, or if none, then before entering the intersection...
So you may not ENTER the intersection if the signal is red. The yellow light is to warn you that it is about to turn red, and therefore you must stop unless you are going to enter the intersection in the few seconds before the light turns red.
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