PASADENA, Texas -

Police have released the names of those involved in Wednesday evening's fatal road rage incident in Pasadena.

Officials say 56-year-old Xavier Escobar was driving his green pickup truck Wednesday night when another pickup pulled behind him on the Beltway 8 feeder southbound at the Ramsy intersection.

Police said the two people in the black pickup jumped out and broke Escobar's window, then began to beat him inside his truck, but the victim was able to get away.

The two aggressors, identified by Pasadena police as 22-year-old Angel Matinez and 23-year-old George Matinez, followed Escobar, and they all ended up in an empty parking lot, authorities said.

Officials said the Matinez brothers jumped out again, and beat Escobar. This time, the aggressors took Escobar's keys so he could not get away, but he was able to call 911.

When the Matinez brothers realized Escobar was on the phone with police, they ran to their truck.

Officials said as Angle Matinez tried to jump on the back of the truck, he fell, hit his head and died at the scene.

Police said George Matinez was taken into custody in Houston on Thursday.