There must be a reasonable suspicion before your liberty interest is overcome. It is an illegal seizure. Following a driver into his residence without an invitaion or without enough information to justify the entry. Your home is protected under the fourth amendment. Absent your consent, the Colorado police officer must have probable cause to beleive you committed a crime and exigent circumstances which prevent the obtaining of an arrest warrant.
Police are like vampires.
They can't usually come in unless you say so. Basing an arrest on the statements of the driver alone. The officer must have independent evidence to corroborate these statements. This often arises when he has not seen you in physical control of your car. Detaining a driver longer than is reasonable to investigate.