A 29-year-old Scottsdale man has been arrested and charged with aggravated assault in connection with a Saturday night incident where, police said, he fled a traffic stop, endangering six people, including four officers.

Nelious E. Horsley III was arrested Monday, Dec. 5, near his Scottsdale home. Detectives were able to track Horsley because police had his driver’s license from the traffic stop, according to a release Tuesday from the Scottsdale Police Department.

The traffic stop occurred about 10:45 p.m. Saturday, Dec. 3, when the suspect was stopped for driving the wrong way on Saddlebag Trail south of Camelback Avenue, police said, adding that he argued with police and refused to turn the vehicle off and step outside.

After several times refusing to follow police requests, an officer attempted to remove the suspect, but he broke free, put the vehicle in drive and drove away, the release stated.

Four officers were near the vehicle at the time and two pedestrians were crossing the street. One pedestrian was struck.

No one was seriously injured, police said.

Charges against Horsley include aggravated assault with a deadly weapon, aggravated assault on a police officer, endangerment and felony flight. Police said he was not charged with hit-and-run because the pedestrians did not want to aid in prosecution.

Police also said there was a passenger in the suspect’s car, but they are not looking for that person.