I know anecdotes aren't data, but my only negative interactions with cops have basically been for traffic tickets. Meanwhile my negative interactions with criminals have been far more numerous, along with several second-order effects caused by their mere existence (like not going to certain neighborhoods at night because of high crime rates). I don't think there's ever been a neighborhood law abiding citizens had to avoid because of fear of cops.
Maybe I'm some kind of crazy outlier, but I'm pretty sure that most innocent people are the same.