HOUSTON – Houston police issued a traffic violation to a man Wednesday after a witness said he caused a car wreck while having sex and driving. Police cited the driver for failure to control speed.

The man told officers he was picking up his "lady friend" when a man with a gun jumped into the back seat of his car. Fearing being shot, the driver said he crashed into a truck.

According to the witness, the driver and a woman were having sex inside the car seconds before he crashed into other vehicle.

“All of a sudden, he started acting really crazy and driving crazy. She took the wheel, tried to steer it, but they came to that red light and the truck was stopped and (they) rammed into the back of it,” the witness said. "He got out the car, he started running around, rolling on the ground, hollering, 'I didn't do it! Justice!'"

The witness said she never saw a gunman, however, and has a different story.

"He had a white shirt. A white undershirt with some boxers. That's all he had on. No shoes. Nothing,” the witness said.

The witness said the woman walked to bus stop after the crash and was gone before police arrived.

"Now that I think back on it, it's really funny, but I hope all of those people are OK, though,” the witness said.