WARWICK — The Warwick and Providence police have obtained arrest warrants for the man they allege kidnapped a woman in her car from a Quaker Lane parking lot and raped her in Providence’s Roger Williams Park early Sunday evening.

Warwick Detective Capt. Michael Babula identified the suspect as Saul Pizzarro-Aviles, 27, whose last known address was in Providence.

The Warwick warrant, he said, charges Pizzarro-Aviles with kidnapping and first-degree robbery, and the Providence warrant charges him with first-degree sexual assault.

On Tuesday, the departments reported that the carjacking occurred shortly after 5:30 p.m. Sunday in the parking lot of a Super Stop & Shop. They released a photo from a store security camera of a man, later identified as Pizzarro-Aviles, leaving the store.

According to the police, Pizzarro-Aviles entered the store through its north doors, changed his shirt and then left the store. Once in the parking lot, Pizzarro-Aviles allegedly brandished a knife to commandeer the car, which was idling with the woman in the passenger seat waiting for her mother to finish grocery shopping.

Babula said Pizzarro-Aviles drove the woman to Roger Williams Park.