A Medford man is facing illegal gun possession charges after Boston police stopped a speeding vehicle in Roxbury early Tuesday morning.

Officers in an unmarked cruiser were patrolling along Dudley Street and Malcom X Boulevard when they spotted a car speeding down the boulevard around 12:26 a.m. Tuesday, Boston police said.

The officers activated their emergency lights, but the vehicle did not stop until it reached Ruggles Street, where the driver pulled over, police said. Police recognized the four people inside and concluded the driver was not authorized to be operating a rental car, taking him into custody for unauthorized use of a motor vehicle, police said.

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Police then ordered the three other people out of the car. As one passenger was being patfrisked, the man allegedly tried to break away and force his way back into the vehicle so he could drive away. The two other passengers began allegedly began assaulting officers. All three were eventually brought under control, police said.

Officers found a .32-caliber semi-automatic pistol inside the pants leg of the passenger who had tried to flee. Kenneth Ford, 18, of Medford was charged with unlawful possession of a firearm, unlawful possession of ammunition, assault and battery on a police officer, and resisting arrest, police said.

Ford was also issued a civil citation for possession of less than one ounce of marijuana after police allegedly found a plastic bag containing a green leafy substance in his waistband.

The driver was identified as Devante Petty-Creech, 21, of Dorchester. The other passengers were identified as Peter Fanfan, 27, of Dorchester and Miesha Griffin, 19, also of Dorchester. Fanfan and Griffin were charged with aiding the escape of a prisoner and resisting arrest. Fanan is also charged with assault and battery on a police officer.

According to Suffolk District Attorney Daniel F. Conley, Ford pleaded not guilty to all charges at his arraignment in Roxbury Municipal Court and bail was set at $50,000 cash. Fanfan pleaded not guilty and had bail set at $5,000 cash; he was also ordered held without bail for violating terms of bail from an unrelated case, prosecutors said.

After pleading not guilty, Petty-Creech and Griffin were released on their own recognizance, according to prosecutors.

They are due back in court April 18.