Venus Williams lawfully entered the intersection where her SUV was T-boned by a Hyundai in which the passenger was killed ... this according to just-released surveillance video and new police information.br br SUBSCRIBE -- br About TMZ Sports:br Some of the best stories in sports have been off the field and we’re reporting on athletes from NFL, NBA, UFC, WWE, MLB and more! br br Subscribe to TMZ Sports on YouTube for the latest news, exclusive interviews, clips from TMZ Sports on FS1 and videos of your favorite athletes and celebs.