you clearly have little to no experience with the law.
Just because you are supposed to be able to doesn't mean that's how it works for most people.
Prosecutors love to prosecute, and judges like to hand out stupid sentences.
Go to court and tell a judge, I ran him/her/them over because they were threatening/attacking me.
Unless you had a very visible and dramatic wound from the event chances are you are going to jail for it.
Our justice system is fucked bro.