I remember reading a case where a woman was pulled over by a cop, in a pitch black area at night. She drove another mile or so before stopping when she found some light. She was arrested for "not stopping" or something along those lines. The case was dismissed, but she mentioned it took a toll on her.

We can have all the guns and take all the precautions but these kind of incidents will continue to happen. The only way is to hire better people to the police force and more importantly train them better. Above all, have proper social support.