In this situation, are you allowed to continue driving straight ahead when driving a passenger car?

In the video, you are driving along a street in a town next to a historic half-timbered church and approaching a junction; on the right there is a round sign with a red border and a lorry symbol - B-5 "no entry for lorries". When driving a passenger car, you are allowed to continue straight on. The answer is: yes.

The Regulation on road signs and signals states that sign B-5 "no entry for lorries" means that traffic is prohibited for lorries with a maximum permissible mass over 3.5 t, road tractors, special vehicles and vehicles used for special purposes with a maximum permissible mass over 3.5 t, agricultural tractors and slow-moving vehicles; if a number of tonnes is given on the sign, the ban applies to vehicles with a mass greater than the one given. A passenger car does not belong to any of these groups, so the sign does not apply to you and you continue straight on. It also does not apply to minibuses and light vans up to 3.5 t - they are "lorries" in the vehicle registration certificate, but they do not exceed the mass limit. Sign B-5 is placed at entrances to town centres, housing estates and weak bridges, to protect the road surface and residents from the noise of heavy vehicles.

Legal basis: § 18 para. 4 and 5 of the Regulation on road signs and signals