I have been driving for nearly 14 years and will soon have a car here over the next week and the lights are a big worry... along with the other bad road users!! From what I have seen it is best to slow down if they have been on green a while and most definatly stop when they start to flash amber regardless of who is behind you.

My hubby had to slam on a couple of months ago at the lights, managed to stop but front tires went ever so slightly over the line and guess what.... the cameras flashed! We were horrified as to sensitivity of the camera but later when checked we did not have a fine.

Good luck with the driving.