You will need to do a control drawing to control a stop light $($red$,$ yellow, green$).$ So$,$ if you pull up to a stop light and it is red your car would initiate the sequence: Light is red for a couple seconds$/$minutes$,$ then the light turns green for seconds$/$minutes$,$ then turn yellow for a few seconds then turn back to red.

Get creative, there are a few different ways to accomplish this.$$ Just remember try and keep it simple.$$ FYI$-$ The easiest way I found to do it is with three separate time delay ON relays $($like we used in our lighting project$),$ and a start relay that gets its latching power NC from the yellow Timer relay.