(CNN) Kenneth W. Lilly will appear in court Friday to face attempted murder charges after firing at a school bus driver this week in Minnesota.

The 31-year-old told authorities he feared for his life when he opened fire Tuesday on Interstate 35 in downtown Minneapolis, striking the driver in the side of his head and in the left arm.

The bus driver is expected to survive, Minneapolis Police Chief Medaria Arradondo said, adding that an 8-year-old school girl aboard the bus was unharmed.

Lilly was charged Thursday with second-degree attempted murder and second-degree assault with a dangerous weapon, according to court records. He could spend up to 20 years in prison if convicted of the top charge.

It was not immediately clear whether he had an attorney.

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