A 54-year-old Florida man was allegedly receiving oral sex from a woman in his vehicle when he struck and killed a homeless bicyclist, leaving him to die at the scene, according to police.

Randy Joe Allen faces first-degree felony charges of leaving the scene of a crash involving death and vehicular homicide with failure to render aid and/or information. He was booked into Polk County Jail on Sunday.

Allen may face additional charges after the Polk County Sheriff’s Office receives blood test results, according to the department's Facebook page.

The incident occurred at about 6:45 p.m. Saturday on Highway 92 in Auburndale, Florida, about 40 miles east of Tampa.

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A man, later identified as Terry Lamunt Ross, 49, was riding his bicycle on the road when a Ford F-250 pickup struck him. Ross was ejected from his bicycle and redirected further onto the roadway shoulder, where he later died at the scene, according to a news release.

A witness at the scene gave police a vehicle description, a partial license plate number and stopped to help the victim.

“This is another example of how, with the help of our community, that we are able to successfully solve crimes and put criminals in jail,” according to a statement on the sheriff’s office’s Facebook page.

Investigators were able to identify the victim, a homeless man, via fingerprint analysis.

The investigators were able to track down the vehicle description and license plate information to Allen. They interviewed him at a bar in Auburndale, where he told investigators he had struck something in the road at that time, but he believed it to be a stop sign, according to the news release.

Allen told investigators he was “distracted” by his passenger prior to the impact and did not see what he had hit, according to the news release.

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The deputies found Allen’s passenger at a motel in Winter Haven, about 15 miles east of Lakeland, where the woman told police she had started performing oral sex on Allen while he was driving his Ford pickup.

“While doing so, she heard a bump. Mr. Allen told her he had struck a stop sign; she did not have any reason to not believe him and did not have any idea what he had struck,” according to a news release from the sheriff’s office.

She told investigators the two of them had been drinking.

The Orlando Sentinel reports Allen appeared in court on Sunday morning.

Jail records show he’s had seven prior arrests, including a DUI arrest in 2008. He has been previously arrested for resisting officer without violence to his or her person in 2004. His arrest history also includes an arrest for domestic violence and battery.

twhite@mysa.com

Twitter: @tylerlwhite