A man has been charged with dangerous driving after trying to escape police.
Officers in an unmarked vehicle had spotted a car performing an emergency break in Batley, causing the vehicle behind it to stop.
Two suspects left the car and approached the victim, armed with weapons.
The officers alerted the suspects to their presence, at which point they tried to escape in the car.
The Citroen DS3 they were travelling in was later stopped by police and the occupants were arrested.
Police questioned four people aged between 16 and 20 in connection with the incident in Upper Road on the evening of February 20.
A 20-year-old man from Heckmondwike has now been charged with dangerous driving and driving with no insurance.
He is due to appear at Huddersfield Magistrates' Court on March 9.
A 16-year-old boy also received a youth conditional caution for possession of an offensive weapon.
Two teenage girls, aged 15 and 16, were released without charge.