The incident took place this evening when the driver of the car, who was reportedly in an inebriated state at the time of incident, hit some of the devotees, they said.
The officer was also inside the car.
Angered over the incident, the Kanwariyas resorted to stone-pelting during which one cop and two home guards were injured.
However, the devotees were calm down after senior police officials rushed to the spot.
Meanwhile, the driver of the car was arrested while the further probes are on, police added.
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