Police say the 31-year-old Mapoon man was driving dangerously and intentionally drove his large four-wheel drive into the back of Mazda 3 in Weipa on May 27.
As a result, the Mazda crashed into a power pole.
It will also be alleged the man then left his vehicle and assaulted the 26-year-old female driver of the car.
Police say the man and woman are known to each other.
When police arrived, the man held a knife and injured himself before officers used a Taser and took him into custody.
The 26-year-old Mission River woman was airlifted to Townsville University Hospital in a critical condition and her condition is now stable.
An 18-year-old woman and 19-year-old woman, passengers in the Mazda, were transported to Weipa Hospital in stable conditions.
The man was taken to Cairns Hospital for treatment.
He appeared before Cairns Magistrates Court on May 29, where he was remanded in custody.
He is expected to return to court on July 3.
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