The Baltimore man accused of carjacking a woman who jumped to freedom with her baby on the Capital Beltway was ordered to undergo a psychiatric evaluation Friday as new details emerged about the harrowing incident.

Just before the woman grabbed her 20-month-old son and bailed out of the moving Lexus late Wednesday, Maryland State Trooper Jason Batty drove up alongside, court papers say.

“A woman in the front passenger seat looked at me, waved her hands out of the window and screamed ‘Help!’ numerous times,” Batty wrote in an arrest affidavit.

The trooper slowed down, tucked in behind the Lexus and turned on his vehicle’s lights and siren. The Lexus slowed. Mother and baby rolled out.

“I swerved to avoid them,” Batty wrote.

Terron A. White, 22, was charged with two counts of kidnapping, first- and second-degree assault and vehicle theft, according to court papers. He made his first appearance in Montgomery District Court on Friday, his image and voice piped in over a video feed from the county jail. Judge Gary G. Evern­gam noted that jail officials had recommended that White be seen by a psychiatrist and asked White whether he had an opinion on that.

“No, sir,” White said.

White was held without bail. Everngam scheduled a bond review for next week.

The victim did not attend the hearing Friday and could not be reached for comment. On Thursday, she told the Baltimore Sun that White had muttered “nasty stuff” to her and tossed her cellphone out the window.

“I thought, ‘We’re going to die,’ ” she told the Sun, referring to herself and her son, Julius. The Sun and WJLA-TV identified the woman by her first name, Elsya, a name that is confirmed by court records.

The woman’s aunt, Everlon Moulton of Pikesville, said her niece had stopped by her home and recounted the incident.

“She’s very, very shaken up,” Moulton said.

Moulton said her niece told her that she had stopped to get juice for her son at a Citgo gas station in Baltimore when she saw a man running toward her car. He forced his way into the driver’s seat, Moulton said.

“She said, ‘Let me get my baby, let me get my baby,’ ” Moulton said, repeating her niece’s account. “She told him, ‘Take my money, take my car,’ but he said no.”

Moulton said her niece jumped to the back seat, where her son was strapped into a car seat.

In the arrest papers, Batty said White had been involved in an altercation inside the Citgo station and then ran for the car. He drove away with the mother and baby in the back seat and later ordered the woman to sit in the front seat, according to court papers. It was unclear how she managed to get her child before bailing out of the car.

State Police said White smashed out the driver’s-side window and threatened the victim with the broken glass if she did not comply with his orders.

Batty had been working in Montgomery and at the time had no reason to know about the Baltimore incident. He eventually picked up radio traffic about a dark-colored car that had sideswiped a state police cruiser and kept going. Batty positioned himself on the outer loop of the Beltway, near Connecticut Avenue.

Soon enough, a dark-colored car with no headlights on passed by. Batty caught up and saw damage on its passenger side. Batty pulled up alongside the Lexus and then dropped back as it slowed to 10 to 20 mph.

The woman and baby tumbled out.

Moulton said her niece told her that she held the baby as close to her chest as she could.

“The baby doesn’t have a scratch on him, but she’s a little beat up and bruised up from the fall,” Moulton said.

A short time later, troopers took White into custody without incident. He was taken to a nearby State Police station, where he “provided a written statement/apology/confession to the majority of the” details Batty had written in his affidavit, according to court papers.

Court records indicated that White did not have a lawyer assigned to his case.