The incident occurred on July 18, 2016 when 27-year-old Arnaldo Rio Soto, a severely autistic man living in a group home for adults, wandered away from the facility carrying a shiny silver toy truck, NPR reported.

Rios sat down in the middle of the street to play with his truck and his caregiver, Charles Kinsey, followed him.

Officers responded to the scene under the belief they might be encountering a suicidal individual and surrounded the residential intersection where Rios and Kinsey were sitting.

A cell phone video filmed by a bystander showed Kinsey laying on his back next to Rios with his hands in the air, begging police not to shoot, ABC News reported.

Rios shouted “shut up” at Kinsey in the video.