When police officers stopped a gold 2000 Dodge Intrepid on Monday, a 22-year-old man stepped out with a handgun.

Police were able to safely take Trenton resident Bias Robinson into custody after he is alleged to have fired two rounds from a Ruger .40 caliber gun just minutes earlier, according to an affidavit of probable cause filed by Bristol Township authorities.

Police said the suspect fired two rounds at the Sunoco gas station in the 1200 block of Veterans Highway (Route 413) just after 8:30 p.m. on Monday. Robinson was said to have fired the weapon after he told another male he was “not playing,” a witness told authorities.

The 22-year-old made statements to investigators saying he fired the .40 caliber gun as an act of "self defense," the affidavit stated.

An officer responding to the shots fired call spotted the gold sedan wanted in relation to the shooting at Route 13 and Veterans Highway. After he stopped the car, police had to order Robinson to drop the gun multiple times, records show.

When officers got to the car, they reported finding a child under the age of four and a two adult females.

One of the women in the car told police she was in fear for her safety during the shooting incident. She said she was concerned the Sunoco gas station would “blow up.” The woman, police noted, was upset and had trouble speaking.

Robinson admitted to police he fired two rounds after cocking the firearm. He said one round fell out. According to the criminal complaint, he then picked up the casings and round and put them in the ashtray of the Intrepid and drove off.

Robinson was arraigned on charges of terroristic threats, reckless endangerment, simple assault and disorderly conduct, a court docket shows.

He was unable to post 10 percent of $500,000 bail and remains in county jail.