Mandatory disclaimer, English isn't my first language and I'm using the phone app. 

I have other issues including anxiety, and several medications. One of my meds is in progress to be changed to another, so this might be the cause, or not.

To the point. I caused a dangerous situation today while driving. I was driving on unfamiliar, with quite busy trafficked area. So I was using navigator and trying to keep eye on pedestrians and bicyclists, I noticed a taxi coming from right at intersection, looked my navigator, and almost run over a person on scooter. If something had happened (there wasn't any kind of physical contact), it would totally been my fault, I'm not denying that and I totally understand that the driver got scared and was angry. 

I tried to mouth apologies and make it known that I was sorry. I continued driving, so I wouldn't block the traffic. Scooter driver drove past me and in traffic lights approached me. So I rolled the window down and tried to apologize appropriately, but the driver was having none of that.

Driver yelled very angrily at me, that I thought that I have a right of way, that I thought that I could run over the scooter. I tried to say that I really didn't see the scooter before, that it was an accident. Driver got even more angry, and yelled that it wasn't an accident and I have seen the scooter driver. No effect, no matter how hard I tried to apologize.

I nearly had a full-blown panic/anxiety attack and I can't seem to get over it. I'm very anxious of what happened and I couldn't get my apology through.

Please help me, any advice how I can get over this?

I should go to sleep soon, and I know that if I can't deal with this, I'm not able to sleep. And/or there will be monstrous nightmares.