TL:DR at the bottom

Michigan/USA

Okay so here's the deal, I have a neighbor who LOVES his lawn and hates me and I have a feeling he is going to try to have me arrested for trespassing - here is the situation:

We live on 40 ft wide lots and my driveway comes right up to his lawn (think crowed urban suburbia) and my city also forces us to use those giant 96 gallon barrels for garbage.

So every week when I take my garbage out I walk to the right of my car coming down the driveway and since it's 2017 and my car is a small SUV that is the ONLY way I am getting my garbage out. This also forces me to roll my garbage cans 1 wheel onto his lawn.

I called my city to see if this area was the lot line and I was told that without a official land survey that there was no way to tell but in most cases the land line is outside of a driveway (per city laws) and the fence is on the property line (per city laws). Where I am walking lines up with the fence and is all of 6 feet long. I was also told this was not trespassing because I am not "on the property with intent to commit a crime"

He constantly yells at me about this in ways to purposefully scary me/intimidate me - IE pounding on his window, yelling when my back is turned, just walking up behind me (which is terrifying in the night by the way), and getting "in my face" for lack of better term. Honestly it's just a very hostile neighbor situation and in my opinion it is just a lawn. He also has a security system and records everything and most likely has me on tape.

I am getting to my wits end and am about to just tell him to get out of my business and that I am not doing anything wrong but would also hate to be ticketed for trespassing or whatever else he can think of. So am I legally doing anything wrong? and what should I be doing with possibly getting him to stop?

TL:DR - I roll my garbage down my neighbors lawn to take my trash out, he wants to have me arrested for trespassing, I do not want to go to jail

EDIT: To everyone telling me just to move my car, the point I am trying to make is that I am not exactly sure he even has the right to be throwing a fit and yelling at me because where I am rolling my garbage can should be the property line.