Barry Baker Jr. led Oklahoma City police on a slow-speed chase Wednesday before the dramatic ending when he was stopped and tasered.
Police said he wanted them to shoot him.
Baker was facing charges of impersonating a Tulsa police officer.
When he didn't show up for court on Tuesday, a warrant was issued.
On Wednesday, he called police in Oklahoma City and said he was suicidal.
Officers said when they first encountered Baker he was in his truck in a parking lot with a woman in the driver's seat.
She ran out of the truck and told police that he was scaring her.
Baker eventually got behind the wheel and took off, at one point you can see a state trooper force him off the road, but he was able to maintain control and kept going.
"I saw that and was like, 'that's crazy,'" process server Scott Malan said.
Malan's history with Baker goes back to 2009, when he served Baker with court documents at his Broken Arrow home.
Malan thought something was odd when he noticed two vehicles in Baker's driveway with law enforcement tags.
"It looked like a cop car to me; it looked like an undercover Crown Vic," Malan said. "It had the whole radio system inside with the lights inside and everything."
Malan says Baker pulled a gun on him while the two were standing in his doorway.
"He followed me out to my car, and I got into my car and took off," Malan said.
Tulsa Police said Baker has a history of impersonating a police officer. They said he even called himself "Homicide Detective Matt Baker".
There's also a warrant out for him, accusing him of getting $350 from a Broken Arrow man in exchange for a set of commemorative .22-caliber Magnum revolvers, but the guns were never delivered.
Baker's truck finally stopped, Wednesday, on a bridge over Interstate-44. Police say he didn't listen to their commands to get down and was tasered.
Malan wishes more would have happened to Baker in 2009 that might have gone to prevent Wednesday's drama.
"He definitely has some anger issues, some self-confidence issues that he needs to promote himself as something he's not," Malan said.
Baker is also charged with using a closed Fraternal Order of Police Credit Union account to buy $2,000 worth of items at a furniture store.
Attempts to reach his family here in Tulsa were unsuccessful.