Oddly enough, according to the news report, the Madison police cited the bicyclist in addition to the driver.
Wis. Stat. 346.67 (a) Green.
1. Vehicular traffic facing a green signal may proceed straight through, make a U-turn, or turn right or left unless a sign at such place prohibits the turning maneuver, but vehicular traffic shall yield the right-of-way to other vehicles and to pedestrians lawfully within the intersection or an adjacent crosswalk at the time the signal is exhibited.
346.37 (1) (b) Yellow. When shown with or following the green, traffic facing a yellow signal shall stop before entering the intersection unless so close to it that a stop may not be made in safety.
According to the Wisconsin Driver's Education Handbook:
"Do not rely on traffic signals or signs to tell you that no one will be crossing
in front of you. Some drivers do not obey, or may not notice, traffic signals
or signs. At an intersection, look left and right, even if other traffic has a red
light or a stop sign. This is especially important just after the light has turned
green. This is when people on the cross street are most likely to hurry
through the intersection before the light changes to red. Individuals whohave been drinking and reckless or aggressive drivers may also run red lights."
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