Identify: I see that there is a stoplight in front of me, it has just turned from green to yellow. I can also see that the car in front of me is slowing down.
Predict: I can predict that the car in front of me will stop because his brake lights have come on. I can also infer that the stoplight will turn red, because it was just yellow.
Drive safely using IPDE
Decide: I will stop so that I do not run into the car in front of me, and I will not run the light.
Execute: I stopped and I am waiting for for the light to turn green.