Penayo was initially involved in a two-vehicle crash with another motorist while traveling southbound on Atlantic Avenue near Florence Avenue around 9:40 a.m. Sunday, said Deputy Rick Pedroza of the Sheriff's Headquarters Bureau.
"After the collision, the two parties ended up on opposite sides of the street," Pedroza said. "A group of men crossed the street towards Penayo in a threatening manner."
One of the men allegedly threatened Penayo with a crowbar, causing Penayo to shift his car into drive and pull out.
Pedroza said Penayo then drove at the group, hitting one of them, then continued driving across Atlantic Avenue and went into the driveway of a Starbucks.
"Penayo then struck a patron who had just exited the Starbucks with his vehicle," Pedroza said. "Penayo dragged the victim under his vehicle for some distance before stopping."
The victim, who sheriff's deputies identified as 27-year-old Rosshadi Abauwad, was pronounced dead at the scene.
CNS contributed to this report.