A Beverly Hills man has been charged with shooting another man in front of his family during an argument sparked by aggressive driving, deputies said.

Robert E. Doyle, 51, is facing charges of second-degree murder in the death of Candelario Gonzalez. He is also facing three counts of aggravated assault.

Gonzalez, 44, was shot several times in the area of S. Desoto Street in Beverly Hills Thursday afternoon.

According to the arrest affidavit, Doyle and Gonzalez became involved in an "aggressive driving incident" in the Citrus Hills area.  Doyle drove to his home off Desoto Street, then pulled into the driveway. Deputies said Gonzalez was still behind Doyle by the time he arrived at his home.

After Doyle pulled into his driveway, Gonzalez parked his car in front of the home. Doyle got out of his car and walked up to Gonzalez's car, which was also occupied by Gonzalez's wife, child and grandson.

Deputies said Gonzalez got out of his car when he realized Doyle was approaching them with a firearm. Deputies said Doyle fired a shot, paused briefly, fired another shot, paused again, and then fired quickly three times.

Gonzalez fell to the ground as he was heading back to his vehicle.

Deputies said Doyle then approached Gonzalez's car with his firearm drawn and pointed it at the wife, daughter and grandson. He made all three get out of the vehicle, then held them at gunpoint until law enforcement arrived at the scene, deputies said.

After Doyle was placed under arrest, deputies said he told them that while he was driving home, he saw Gonzalez trying to force him off the road and "brake checking" him. Doyle said Gonzalez followed him all the way back to his house, and that once the men were there, Gonzalez threatened him. 

That was when Doyle said he removed his firearm from his pocket, loaded the chamber and pointed the weapon at Gonzalez, deputies said.

However, deputies said Gonzalez's wife told them Doyle was driving aggressively, and that they only went to his house to get his address to give to law enforcement. Once they arrived at Doyle's house, they saw him get out of his vehicle and immediately point a gun at them.  She said she saw Doyle immediately fire several  gunshots at Gonzalez, then point the gun at her and her family.

Deputies said an independent witness who saw the shooting from about 75 yards away saw Doyle pointing the handgun at Gonzalez, and that Gonzalez was backing away when Doyle started shooting.

Deputies said they reviewed a 911 call made by Doyle's wife, in which Doyle could be heard saying, "It is cocked, locked and ready to go," and that he was going to shoot Gonzalez in the head once they got home.  Doyle's wife could be heard telling him to put his gun away and not to shoot several times, deputies said.

According to deputies, the 911 call recorded five gunshots, about five seconds after Doyle got out of the car.

Doyle was taken into custody and booked into the Citrus County Detention Facility, where he is being held without bond.