Use 'frighten off' to describe actions that are hostile or aggressive enough to repel someone. His angry shouting managed to frighten off the curious bystanders.
Pro Tip 2/3
Active Deterrence
'Frighten off' implies a deliberate action to make others avoid a person or place. The guard dog was trained to frighten off trespassers.
Pro Tip 3/3
Not Literal
Sometimes 'frighten off' is used figuratively, meaning to discourage without causing literal fear. Complex regulations tend to frighten off small business owners.