Many intersections would benefit by only operating at peak then going flashing Yellow/red.
Safety is the goal, but after so much, we are at a point of diminishing returns. Accept that people in control of 4000 pound land missiles will screw up on occasion and people will die. I drive a motorcycle - a klr650. Lights are often unkind to me, so I use my judgement. The ONLY way lights will get much better is to have the cars talking to the lights. Of course, older cars get left out, but that is ok. Most people drive newer cars.
We tend to try to engineer the devices to compensate for stupidest. Fine when engineering a nuclear power plant, not so much when engineering day to day things. The stupidest get stupider and the rest of us get screwed.