The documents said Demetrius Gunn, 46, got into a woman’s truck while she was stopped at a stop sign in Frankfort in September 2013.
Gunn reportedly held a knife to her and ordered her to drive or he would kill her.
As they drove, the documents said Gunn told the woman where to drive and they stopped at two different locations.
Gunn allegedly raped her during those two stops.
The documents said Gunn got out of the truck after they made a third stop, then the woman drove herself to the hospital to report the rape.
Gunn was arrested and appeared before a judge Wednesday.
His bond has been set for $75,000 for the charge of kidnapping and $10,000 for the charge of rape.
Gunn is lodged in the Fayette County Detention Center.