PORT ST. LUCIE, Fla. (CBS12) — A 78-year-old Port St. Lucie man was arrested after police say he pointed a loaded handgun at a full-term pregnant driver during a road rage incident in St. Lucie West.

The incident happened on June 9 at about 2:42 p.m. as the pregnant victim was traveling eastbound on St. Lucie West Boulevard after exiting Interstate 95, according to the Port St. Lucie Police Department. The woman told investigators she encountered an aggressive driver in a yellow Chevrolet pickup truck who began honking and driving erratically.

“I was getting off of 95 and then all of a sudden I see a car come flying around me, slams on the brakes, and then he pulled a gun and he was pointing at me. I have a video, I have his license plate,” the woman told a 911 dispatcher.

Police said the driver, later identified as Robert Kniceley, pulled alongside the victim’s vehicle at the intersection of Southwest Peacock Boulevard and Southwest St. Lucie West Boulevard. When the woman lowered her window to see what was wrong, Kniceley allegedly pulled out a handgun and pointed it at her.

The incident happened on June 9 at about 2:42 p.m. as the victim was traveling eastbound on St. Lucie West Boulevard after exiting Interstate 95, according to the Port St. Lucie Police Department. The woman told investigators she encountered an aggressive driver in a yellow Chevrolet pickup truck who began honking and driving erratically. (PSLPD)

The victim, who is in the late stages of pregnancy, told officers she feared for her safety. She later provided video footage that captured the suspect vehicle leaving the scene. She then parked and waited for police to arrive at the scene and she called 911 a second time.

“I’m sitting in the parking lot but it’s been a few minutes and I’m honestly kind of scared just sitting here because my car, it’s pretty noticeable and I just don’t know who the person was and I’m just scared so I don’t know what to do,” she told the 911 dispatcher. “Yes ma’am. Take a breath for me. It’s gonna be okay,” the 911 dispatcher said.

Using the license plate information, officers identified Kniceley as the registered owner of the truck and went to his home to continue the investigation. Police said Kniceley cooperated with officers and admitted to being the driver involved.

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During the investigation, officers recovered a loaded Smith & Wesson .22 caliber handgun from the home. Authorities said the firearm had a round chambered and was capable of being fired immediately.

Based on statements, video evidence, and physical evidence, investigators established probable cause to charge Kniceley with aggravated assault with a deadly weapon. He was arrested and transported to the St. Lucie County Jail.

“The male is alleging that he was cut off by the individual in traffic, where it enraged him. The female half is stating that she did not do anything. He does have a concealed carry license. But in the circumstance, this did not warrant a firearm being pulled and in turn being arrested,” said Brittany McNally, Port St. Lucie Police Public Information Officer.

Officers also began the process to seek a risk protection order to remove firearms as part of the case.

“This incident serves as a reminder that disagreements on the roadway should never escalate to violence or the threat of violence,” police said in a statement. “A moment of frustration can quickly turn into a criminal offense with serious consequences.”

No injuries were reported. The investigation remains ongoing. Port St. Lucie Police have advice for the public in incidents like this:

“Each circumstance is different, but if you’re in a situation where you’re confronted with a firearm, if you’re able to disengage, get away. Don’t escalate that further. If you’re able to create distance, our goal is to get everyone home safely, not to win a confrontation,” Officer McNally said.