When you are facing a green light and there are pedestrians in the intersection:

You have the right-of-way over pedestrians.
You must yield the right-of-way to pedestrians.
You must signal your intention to cross the intersection at least 100 feet before yielding the right-of-way.
Explanation

A steady green light means you may drive through the intersection, if the road is clear. You may go after yielding the right of way to any pedestrians and vehicles already in the intersection.

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This question appears in the following DMV practice tests: