My tuppence worth....
Firstly, well done Matthew T for getting across so quickly to help out.
secondly, the driver did appear to be quite late in moving off.
Thirdly, as gaz has previously pointed out and, me speaking as ex-police you have to be able to see the lights concerned to be able to state that they were working in the correct order. Having said that, it's very rare for lights to be out of phase and MT's initial reaction is more than likely to be correct.
Fortunately it looks like everything ended up amicably, and maybe the driver might be a bit more attentive in future and not be an amber gambler.