Not Guilty Failure to Yield Should I represent myself in Riverdale, NJ

While exiting 287N , 52B to 23N I proceeded around turn road is a natural yield; slowed down to view on coming traffic almost stopped , observed further into mirror right land completely clear entered road stayed right and was obstructed by a police car at least 200 feet on the shoulder of 23 slowed even further, then police got behind me and pulled me over, policed asked me for license, Registration, insurance. I then asked him what I was pulled over for; he stated failure to yield, I explained I did, so, why wouldn't I? He immediately disagreed; he explained he was waiting there just for that purpose. from his position he could not have possibly witnessed by procedure going into the coming roadway, only my entrance. He did not even speak to me, I had to ask why I was pulled over, no a normal police encounter. The right lane was completely clear and I stayed to the right. I can explain more. Am 65 years old retired , this could costs me quite a bit, especially with insurance. I have a clean driving record to boot. I have a map of the area exit 52B he also marked on the ticket it was a business district, this part of 23N is not. He also marked traffic light on ticket, but checked wet medium or school is not quite clear, the weather 11/12 at 3:20 was dry and partly sunny and some breeze. I feel the officer was rude, cold and impolite. I am not guilty, and do not deserve this treatment, and obvious abuse of the law.. I live in Lake Hiawatha, NJ ...Sincerely