Surveillance video shows that tennis superstar Venus Williams “lawfully” entered the intersection where she was involved in a car crash that killed a 78-year-old man, police said Friday.

“Based on the evidence obtained in the ongoing investigation, it has been determined the vehicle driven by Venus Williams lawfully entered the intersection on a circular green traffic signal, and attempted to travel north through the intersection to BallenIsles Drive,” the Palm Beach Gardens Police Department wrote in a statement.

Williams stopped in the middle of the intersection to avoid colliding with a Nissan Altima that had made a left turn in front of her vehicle, the statement says.

“After the Nissan had proceeded past Williams, Williams then started to proceed north through the intersection,” police said.

Linda Barson, who was driving westbound in a Hyundai, then T-boned the tennis player’s 2010 Toyota Sequoia after her light turned green, according to police.

“The vehicle driven by Linda Barson was traveling west on Northlake Blvd, in the outside lane, approaching a steady red traffic signal,” the statement says.

“The traffic signal then cycled to green, at which time Barson continued westbound and entered the intersection. The front end of Baron’s vehicle collided with the right front of Williams’ vehicle.”

Barson’s husband, Jerome, died two weeks later, after suffering a fractured spine and internal bleeding as a result of the crash.

His family sued Williams in the wake of the June 9 collision, claiming that Williams was speeding through a red traffic light.