The man suffered grazing to his cheek and an injury to his knee.
Kinniburgh told police the man had been walking towards him with a knife so he'd hit him.
Kinniburgh said he had driven at the man from only 5 or 10 metres away.
He stood by his claim the man had been carrying a knife. But Kinniburgh accepted he could have driven away after he got in his car, and so hadn't acted in self-defence.
Judge Jane Farish said he wasn't thinking through the consequences of his actions and the victim could have been seriously injured.
She sentenced him to 100 hours of community work and disqualified his licence for three months.