Notice of intended prosecution - careless or inconsiderate driving, fail to report, fail to stop.

Hi all I really hope someone could help.

I was joining a 3 lane motorway).As I approached the motorway there was a van in front of me joining lane 1, a lorry in lane 2 and lane 3 was clear.

There was a vehicle behind me also joining the motorway. I checked mirrors and maneuvered to lane 3. Got past the lorry and went back into lane 2 then into lane 1. I continued on the motorway until my exit approx 3 miles further down.

I was then stopped by another car who stated I cut someone up which caused him to collide with the central reservation and he has dashcam footage of this. I WAS TOTALLY UNAWARE OF THIS.

I have now received a NIP for careless or inconsiderate driving, fail to stop and fail to report.

Could someone please let me know how this could possibly go? Im sure i indicated but now im panicking i didnt. I'm absolutely terrified of going to prison or losing my license.

Thank you