A man accused in a fatal shooting following a hit-and-run crash in north Minneapolis last week was formally charged Tuesday.

Robert D. Hall, 36, was charged in Hennepin County District Court with one count each of second-degree intentional murder, second-degree unintentional murder, robbery and ineligible possession of a firearm.

Hall is accused of killing a man, who was identified as Kavanian Palmer by a representative of his family, and then trying to carjack a female motorist to flee. Several bystanders pulled Hall out of the woman's car and detained him until police arrived.

According to the criminal complaint: Police were called to West Broadway and N. Lyndale Avenue about 9:49 a.m. on Nov. 12. They found the victim lying in the intersection with a gunshot wound to his chest. He died at the scene.

Witnesses told police Hall drove through a red light and crashed into a vehicle. Hall ran away as the driver of the second car and two other men chased him.

Witnesses said Hall resisted the men and shot the victim in the chest, the charges said.

Hall fled to the Cub Foods store nearby where he allegedly opened the woman's car door and tried to steal the vehicle.

Witnesses detained Hall until police arrived. A gun fell out of his pocket, and witnesses took a bullet-resistant vest and a backpack containing narcotics from Hall, the charges said. A second gun was reportedly found in Hall's car.

According to the complaint, Hall told police that the gun was in his pocket and went off during the first struggle after the crash.

Hall is ineligible to possess a gun because of a previous conviction for a violent crime.

The entire incident was captured on surveillance video, the complaint said.