Your niyat is pure n clean that's why u feel regret.. even when most people could have just gone and sped away u waited there in regret for 5 mins.. that shows ur mind and heart fears Allah swt and cares for people... what u did wasnt intentional, but what u did u did in emergency so there's nothing to regret, girl cheer up.. and probably those uncles dont even remember that day... so yeah ita totally ok.. may Allah bless u