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I am sorry to hear this.
Then you should plead not guilty and explain exactly what happened the way you did in the post.
The police have to prove that you left the scene of an accident and that you knew there was an accident and they have to prove this beyond a reasonable doubt.
You can make it clear that you left out of fear but also didn't think you had to call them because you didn't not believe you touched the car at all.
It sounds like he cut you off and then blamed you.
He also seemed overly angry for nothing which leads me to think that he's trying to blame you and it was his fault. It's just my hunch though.
Do let me know how it works out.
The best of luck!
I understand. And this is exactly what you tell the court.