I’m not sure if it’s the same in other parts of the world but in the US the first of the pair of arrows before an intersection are a good indicator of if you can pass through before the light turns red. There are sometimes intersections that don’t have arrows or where they’re not distanced for that, but the majority are like this, I’ve seen.

But also more generally, as long as you are going a consistent speed and the light is actually yellow at all when you last see it it should be safe. Speeding up to make it through is a disaster waiting to happen.