Dash camera footage shows a Tyler police officer pull his colleague to safety as both were almost run over during a traffic stop Saturday morning.

Officer Hillary Erbaugh, a 9-year veteran of the Tyler Police Department, stopped an orange Camaro for speeding in the 3100 block of West Gentry Parkway early Saturday.

Police identified the driver of the Camaro seen on dash camera as Robert Antonio Taylor, 19. Two other people were also inside the car.

Erbaugh recognized Taylor from prior encounters, according to a police spokesperson, and believed he had a warrant out for his arrest.

Dispatchers confirmed the driver was wanted on a prior burglary charge, so the officer called for backup.

As the officers approached the driver's side of the vehicle, dash cam footage shows the driver abruptly reverse the Camaro.

The back-up officer can be seen pulling Erbaugh out of the car's path as it comes within inches of hitting them.

The Camaro then collides with a Tyler police vehicle before one of the its occupants can be heard on-camera saying "please don't shoot!"

Officers followed the Camaro for nearly one mile: north on West Gentry Parkway, East on Loop 323 and south on Point North Drive.

Police said Taylor stopped in front of a nightclub on Point North and ran into the woods. Police would arrest him several minutes later and take him to jail.

Robert Taylor (Smith County Jail)
Robert Taylor (Smith County Jail)

Robert Taylor remained in the Smith County Jail Monday on bonds totaling $200,000. He was charged with aggravated assault on a public servant, evading arrest and criminal mischief.

Police said no one was injured in the incident.