Got in a left hand turn accident, I was going straight and I got the ticket. should I fight it?

[sayre]

Long story short I'm traveling southbound on a 2 way road and am in the left lane, I notice the light turning yellow about 20-30 feet from the pedestrian walkway travelling 45 mph and couldn't possibly slam on my brakes in time to stop so I continued straight. I had noticed a driver in the intersection waiting to turn left and instead of waiting until I drove by turned in front of me causing an accident. I was given a "Careless driving" ticket because the cop said I "Failed to yield" to the car in the intersection.. I know this is bullshit but is the cop right? I haven't overexaggerated anything, I wasn't speeding, when we struck the light was still yellow like I said had plenty of time to clear the intersection. Any insight is appreciated, insurance is still investigating it's been a 8 days as of today 3/21/2012 it happened. State is Florida.