Police said Styles P. was cut off by Henson, 50, Dec. 23. He then followed Henson, got out of his vehicle and threw napkins at the trucks window, Allhiphop.com reported Wednesday.
As Styles was getting back into his car, the truck smashed into him and broke his leg. Henson said in court Tuesday the whole thing was an accident.
He said as he attempted to drive away, Styles, born David Styles, began screaming and reached into his coat.
"I didn't know if he had a gun or something else he was going to throw at me," Henson told The Journal News. "I feared for my safety, so I tried to get around him on the left side. I guess I was a foot off. I was all shook up."
Henson has since been suspended from his trucking job.