Mr Blake described the events of that night as “extremely violent and dangerous” lasting “just a few seconds”.
In his statement, Mr Blake said Mr Kaba had been driving his Audi vehicle at “great speed” and he had “a propensity to use violence”.
“It was a genuine held belief that my colleagues could have be killed at any cost,” Mr Blake told the police watchdog, and he confirmed he “took one aimed shot at the driver”.
Mr Blake was a qualified tactical adviser and operational firearms commander at the time of the shooting.
He had been the navigator in one of the marked police vehicles.
“These events have had a considerable effect on me,” the court heard from the statement.
“The fact I’ve taken the life of another was deeply shocking.”
But he insisted he “acted lawfully and appropriately to save the lives of my colleagues”.
He added he was “well aware of the enormous distress to Mr Kaba and his family” and was “truly sorry”.
The vehicle Mr Kaba was driving had been linked to a shooting the previous night in Brixton, south London, and the firearm had not been recovered.