○ Firstly, you need to write the if condition to check if the traffic light is Yellow. if traffic_light.get_state() == carla.TrafficLightState.Yellow: ○ Here is the condition on the traffic_light variable followed by the get_state() function to get the state of the traffic light. ○ Then write == ○Then write carla.TrafficLightState.Yellow which will help to check if the traffic signal color is Yellow. Then inside the if condition -

if traffic_light.get_state() == carla.TrafficLightState.Yellow:
    print("Traffic light is yellow - stop the vehicle")
    vehicle.apply_control(carla.VehicleControl(throttle=0.0, brake=1.0))
else:
    print("Continue driving")
    vehicle.apply_control(carla.VehicleControl(throttle=1.0, brake=0.0))