In one embodiment, a system and method for controlling flashing yellow arrow signals at a traffic intersection are configured to monitor a crosswalk that extends across one or more lanes of a crossroad onto which left turning vehicles can turn left, determine when a pedestrian cross button associated with the crosswalk has been pressed, and further determining if one or more pedestrians are within one or both pedestrian waiting zones and, if so, temporarily suspending displaying a flashing yellow arrow to the left turning vehicles so that they cannot legally make a left turn but, if not, permitting the flashing yellow arrow to be displayed to the left turning vehicles so that they can legally make a left turn.