I Left Scene Of Fender Bender Because Of Fear For Safety

I was in a fender bender this morning (in PA). There was no one around who witnessed it as this was in a rural area. I was at first behind the person but they were driving erratically and so I attempted to go around. They then deliberately swerved multiple times to stop me from going around almost hitting my vehicle. Eventually I got around but saw on my directions there was a stop sign coming up so I began to slow down. This person (I’m assuming unintentionally) then slams into the back of my vehicle well before the stop sign. I stopped my vehicle and went to get out when they got out of their vehicle cursing and began to run towards me clearly indicating they meant to harm me. I didn’t exit my vehicle and I drove off out of concern for my safety.

What should I do in this situation? I’ve already called my insurance and filed a claim. I don’t know if I should file a police report or not. I don’t have any of the other drivers information. Would I be charged with leaving the scene if I filed a report even though I was concerned for my safety?