Those two cars on the right stopped for a moment, so they had to have caught the end of a red light, and it must have turned green when they started moving slowly forward again. If that's the case, the car that did the hitting should have slowed down a bit when he saw a red light ahead of him, even if he wasn't there yet. He came through right when the two other cars started going, so he couldn't have been that far from the red light before it changed. If he had slowed down as he should have he would have had time to see the car.
It looks to me that both Venus and the car that was let pass went through at a yellow though, which was what went wrong. Venus gave the right of way to a car going through yellow, which shouldn't be done. If Venus had just went through, the car would have stopped at the yellow, but it felt pressured into not coming to the full stop since Venus was stopping for it.
As for who's at fault, probably Venus for giving the right of way at a yellow. She had plenty of time to go through, but she stopped just because the car probably wasn't at a full stop yet, which was dumb.