A Ross man was charged with reckless driving for an angry confrontation with a bicyclist that was caught on camera and posted to the internet.

Matthew Marshall Engle, 55, is scheduled to appear for arraignment on April 4 in Marin Superior Court. Engle declined to comment Tuesday.

The cyclist, Jan Weissenberger, was less reticent.

“He was really angry and he tried to run me over and it was really scary,” said Weissenberger, 41, of San Rafael. “Yelling at us, no problem, but trying to run bicyclists off the road, that’s going a bit far.”

The incident occurred the afternoon of Feb. 16 on Ross Common between the post office and Ross School. Weissenberger said he was commuting home from San Francisco, where he works as a paralegal.

Weissenberger keeps a rear-facing camera running on his road bike. He described it as a protective measure in the event he is struck by a car and there are no witnesses.

As Weissenberger rolled up to Lagunitas Road, the video shows a red SUV pulling out of the post office and approaching from behind. Words were exchanged, and Weissenberger put the bike down momentarily.

Then the SUV driver appeared to back up and come at Weissenberger, who had positioned the camera toward the vehicle. The driver pulled in front of Weissenberger, blaring his horn and yelling.

“All of you little bastards, get the hell out!” the driver said. “I’ll get a shotgun and shoot your head off! Get out! Get out!”

“You’re on candid camera!” Weissenberger said.

The driver left the area. Weissenberger was not injured.

Weissenberger contacted the Ross Police Department and showed them the video. Police opened an investigation and identified the driver as Engle, who runs a construction engineering firm.

Police referred their findings to the Marin County District Attorney’s Office without making an arrest.

“The victim stated he felt the driver was trying to hit him with the car,” said Ross police Chief Erik Masterson. “The video does not clearly indicate this and the suspect declined to make any statement.”

On March 8, the prosecution office filed a misdemeanor reckless driving charge, said Chief Deputy District Attorney Rosemary Slote. The penal code describes the crime as driving with a “willful or wanton disregard for the safety of persons or property.”

The charge can carry a jail sentence of five to 90 days and a fine of up to $1,000.

Meanwhile, Weissenberger’s video has appeared on YouTube and the website for Cycling Weekly.

Weissenberger said he had no interaction or traffic conflict with the driver prior to the confrontation. He said he was motivated to contact police partly out of concern for other cyclists.

“If he’s that angry at me for doing nothing, what’s going to happen to the next bicyclist?” he said.

Richard Gutierrez, the proprietor of Breaking Away Bicycles on Ross Common, said he saw the video on the internet. He said driver-cyclist conflicts are common in the area but “not on that level.”

“There’s a lot of bad behavior on both sides,” he said. “I wish everybody had better manners. Marin is probably the worst place I’ve ever seen for behavior.”