When it is determined, upon the basis of an engineering and traffic investigation at an intersection, that vehicle stop signs are more restrictive than necessary for the safe and efficient control of that intersection's vehicular movements, yield right-of-way signs may be installed by the city on one or more of the intersection approaches for the purpose of assigning right-of-way. The driver of a vehicle, in obedience to a yield right-of-way sign shall yield right-of-way to vehicles not so obligated to yield or stop which are within the intersection or approaching so closely as to constitute an immediate hazard; but such driver, having so yielded, may proceed at such time as a safe interval occurs.
(KRS 189.335) Penalty, see § 70.99 (A)