What is the right course of action here?

In this scenario, the yellow vehicle is on a road with a yield sign, indicating that it must give way to others. The correct approach would involve allowing the yellow vehicle to pass through before you proceed with your own turn.

According to German traffic rules, vehicles on a main road (with no yield sign) have the right of way over those on secondary roads. Since the yellow vehicle is yielding, it’s essential to prioritize its passage to ensure safety and compliance with traffic regulations.

Choosing to proceed before allowing the yellow vehicle to pass could lead to a dangerous situation or an accident, which is why recognizing and adhering to the right of way is crucial in this context.