I understand your fear, I have the same thing, infact I also have a Service Dog too. It might help to give you peace of mind to write to your local police department and include a letter from you psychiatrist and therapist saying you have a mental condition that may cause you to act different than other people. Not only could it help them to understand you, but mainly it might give you some peace of mind.

I also keep a copy of my letter in my dog's vest, just in case I want to show it to and officer.