ANNAPOLIS, Md. (AP) — A friend who was a passenger in a car driven by a man who was killed in a road rage incident described how a police detective shot his friend.

Adam Pidel testified Tuesday that he and Joseph Harvey froze when Joseph Walker, pulled a gun on them after the two drivers pulled over following some traffic jostling.

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Walker, an investigator for the Hudson County, New Jersey, prosecutor’s office, is charged with first-degree murder trial in Harvey’s shooting death on the Millersville entrance ramp to Interstate 97 on June 8, 2013.

The dispute began when Walker’s minivan cut off Harvey’s car. Prosecutors acknowledged in an opening statement Monday that Harvey, who is white, screamed at Walker as they drove, even calling the black detective a racial slur.

Walker’s first-degree murder trial in Annapolis entered its second day of testimony Tuesday.

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Jurors heard Pidel’s 911 call after Harvey was shot.

Walker’s lawyers have said their client thought he, his wife and three children were in danger when he fired his gun during a confrontation fueled by road rage.

The trial will continue Wednesday in Anne Arundel County Circuit Court in Annapolis.

The trial is scheduled through Aug. 11.

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(Copyright 2013 by The Associated Press. All Rights Reserved.)