Doyle was charged with second-degree murder and three counts of aggravated assault with a deadly weapon

A Florida man is in jail after shooting dead another man in front of his family during a road rage incident.

Robert Doyle, 51, faces second-degree murder charges after shooting Condelario Gonzalez, 44, five times during an 'aggressive driving incident' in Beverly Hills, Citrus County Sheriff's deputies said.

Doyle was in front of his home with his wife at about 10pm on Thursday when he fired shots at Gonzalez before holding Gonzalez's wife, eight-year-old daughter and seven-year-old grandson until deputies arrived, investigators said.

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Robert Doyle (pictured), 51, was charged with second-degree murder and hree counts of aggravated assault with a deadly weapon after shooting and killing Condelario Gonzalez, 44, during a road rage incident, police said

Gonzalez (pictured) was with his wife, eight-year-old daughter and seven-year-old grandson when the shooting occurred

Gonzalez's wife told police that Doyle was driving aggressively and her husband followed him in his own car to Doyle's home in order to get an address to report to law enforcement officers.

Both parties called 911 to report each other before the shooting occurred.

'Some maniac... is trying to run me off the road,' Doyle said in the call, according to WFLA. 'My gun's already out, its cocked and locked.'

Gonzalez's wife was also on the phone with emergency operators, asking for help while driving behind Doyle, who had a trailer in tow.

'He's just driving like an idiot,' she told the operator. 'Somebody needs to smack the crap out of this idiot.'

The wives of the men can be heard trying to diffuse the situation in both phone calls before the shooting occurred.

In a 911 call from Gonzalez's wife (right) she said that Doyle was 'driving like an idiot'. Doyle had also called 911 to say that Gonzales was 'trying to run me off the road'

Gonzalez, pictured here in a collage from a GoFundMe page set up after his death, has previously been arrested in Citrus County for reckless driving

When the families reached Doyle's home, Gonzalez stopped his car on the street and told Doyle, 'I got your number buddy.'

Gonzalez has been arrested in Citrus County for reckless driving in the past, Bay News 9 reported.

Doyle can be heard threatening to 'shoot the victim in the head' before his wife says several times, 'put the gun away' and 'don't shoot', according to the affidavit.

Gonzalez got out of his car as Doyle approached him with the gun, according to The Tampa Tribune.

A witness noted that Gonzalez was 'backing away' from Doyle when the shots were fired, the affidavit said.

Doyle told police that he did not see who was in the victim's car after the shooting, but according to the affidavit, he forced the family out of the car with his gun drawn and pointed it at them until police arrived.

Doyle has been charged with second-degree murder and three counts of aggravated assault with a deadly weapon, WTSP reported. He is being held at the Citrus County Detention Facility without bond.

Citrus Sheriff's Captain David DeCarlo said that this incident is not being considered as a Stand Your Ground case.

The incident occurred outside Doyle's home. Gonzales had reportedly followed him there so he could report his address to authorities