Let's call it what it is. Yips are fear and uncertainty.

So if you're not afraid of your own skills and decisions-- and trying to improve them-- then what is it you're fearing?

A) others crashing into you
B) physical pain of crashes regardless of cause, risk of injury or death, etc
C) economic loss (I can't replace a bike worth $x,xxx)
D) road conditions
E) motorists

You simply have to be able to mitigate the risk and fear in some way. Each of the above has things you can do to help, but nothing and I mean nothing will take these things completely away. Everything you do has risk and if you're uncertain about them then your performance is going to suffer or you're not going to be able to do it at all.

And I'm not saying this like I'm some badass who is never afraid. Ignoring risk is a good way to get hurt or killed. Dealing with risk, on the other hand, whether it's having a plan in your head or practicing a skill is a good way to perform in spite of your fears.