failure to yield isn't a big deal.. did you really have a failure to yield? you should really be weary of cops most of them are abusive and are actually corrupt and many of them are literally dangerous criminals.. now you should keep a big enough distance between you and the next car so you don't rear end someone if they stop unexpectedly. it is okay, relax, your insurance won't go up much. if you had an accident on your record, then it would though. but the accident may be on your dad's record.