If you decide to go forward with this matter, just remember, it's going to be two against one and they driver and girl will be well rehearsed in the fiction they that is their testimony. Their story won't resemble anything like what happened, but it's what you'll have to deal with.
They'll say you grabbed the girl in a threatening manner and she feared for her life. She'll say that when she told you she wasn't a prostitute, you went into a rage and were so angry she thought she was going to be raped or beaten. The driver will say you attacked him when he came to the aid of the girl, and he had no choice but to defend himself so that he and the poor girl could escape with her life.
If you think I'm kidding, I could let you read the police report I had to deal with- it was pure fiction. And just remember, if you pursue it, you're probably going to work within the framework of the law, whereas they'll have no problem coming to your apartment or jumping you in the parking lot long before it ever goes to court. Remember, you're dealing with criminals and you've now stepped over into their world.
I'm not an attorney, but even if you don't press charges, you might want to file a report to go on record as to what happened. One thing I learned the hard way is if you do pursue it, the first person to call the cops has the high ground because the plaintiff has the DA doing the work for you, whereas the defendant is paying for attorneys.
Just to clarify a point in my previous post- when I said I didn't even know the names of my accusers, I meant when I was being accused. Obviously, this information was eventually made available to my attorney at a later date, even though they never showed up at any of the hearings.