[fredjacksonsan]

Driving away? How far was it to go around the corner from where you first saw the lights? If it was a couple miles, then I can see why they were upset. If a block or two, you could (and should) argue in court that you felt unsafe stopping in the roadway, and pulled around the corner for safety.

I don't think "appearing to hide something and reach for a weapon" is a valid charge and is not against the law. However, you've got to remember that the cops don't know that you're getting your registration or whatever; all they see is you leaning and reaching inside the vehicle, and they get stressed out. I've known a few cops, and they say sit still, open your window, and have both hands on the wheel. I've tried it myself and it makes a huge difference in their attitude.