The Fort Worth police officer arrested Friday on a charge of aggravated assault with a deadly weapon says the driver he shot multiple times was preparing to run him over and he was afraid for his safety.

Fort Worth police say Martin did a “jail walkthrough" on Friday, meaning he walked in with his attorney to turn himself in, was fingerprinted, posted bond and walked out. He did not spend any time detained.

Officer William Martin, who was also at the center of a controversial 2016 arrest that went viral, was booked into the Tarrant County jail on a charge