Yes get an attorney to assist you. It is not unusual for a police officer to almost cause an accident and then give a ticket to the person they almost hit.
Mr. Driessen is a former Deputy DA in Orange County with over 8 years of criminal law experience. Nothing stated on this site shall in anyway be construed as legal advice, or as creating any attorney client relationship. If you would like to hire Mr. Driessen, feel free to contact him at www.theocduiguy.com.
Of course you can fight the charges. It's good that you've gotten insurance, albeit after the fact. As for your chances of winning, that's next to impossible to predict. I suggest hiring a local attorney to do so for you, as it will greatly improve your chances of winning. Good luck.