Well to fix ure problem just leave before GREEN.
Go on the last yellow, because by the time the thought process of go comes in to play, the light will have already been green for 1 second or more already.
Humans think quick , dont get me wrong, but not quick enough to see green and get from point A to point B in .500 or slightly above and or under 1 second,
so leave on the last yellow and u should be golden.