A drink-driver was killed with his dog after stopping by a busy dual carriageway and stepping into the road.

Robert Penkethman, 27, was over the legal alcohol limit and was arguing with his girlfriend over cigarettes minutes before tragedy struck on July 18, an inquest heard.

He stopped the Nissan Micra on the A27 at Hammerpot and was followed by his dog Jackie Chan into the road, where they were both struck by a Renault travelling at 65mph.

Mr Penkethman, of no fixed address, was killed instantly as he hit the car's windscreen, while his dog was dragged along the dual carriageway under the car.

Lisa Blake, with whom he had been having a relationship for a month, told the hearing in Worthing yesterday she had been drinking vodka, strong lager and other drinks with Mr Penkethman and a friend in Midhurst, and was "totally inebriated".

Unemployed Mr Penkethman was driving the group towards Worthing when an argument broke out.

Ms Blake said: "We were just arguing about who had the fags and Rob got really angry and said 'I've had enough'.

"He stopped the car and got out. Jackie Chan jumped out. There was just a bang and he went flying in the air."

Ian Lambert, who was driving the Renault which hit Mr Penkethman, described how he hadn't seen him in the road.

He said: "On the left-hand side of the road I clearly saw what I think I think was a Nissan car.

"The driver's door was open and it was parked on the grass verge, very close to the dual carriageway.

"As I approached my first impression was the noise of the impact - I saw nothing in my headlights.

"There was an almighty crash and the car obviously shuddered. Then the windscreen came in and was shattered right across but didn't cave in."

Mr Lambert admitted he drove on another 400 yards in a state of shock and confusion - but then gathered his thoughts and returned to the scene and identified himself when the emergency services arrived.

He said: "I stood bemused, thinking, 'Oh my God - I've hit a man and he doesn't look too good'. I was in shock."

The court heard from a number of witnesses including motorist Peter Merry, who saw Mr Penkethman suddenly appear in front of a car 150 metres ahead before being hit.

He said: "I guess maybe the pedestrian had tried to cross the road and had misjudged it."

Sussex Police accident investigator PC Simon Lane told the court Mr Lambert had been driving responsibly and his car had been in good condition.

A post-mortem examination found Mr Penkethman died of severe head injuries. He had 141mg of alcohol in 100ml of blood. The legal limit is 80mg.

Pathologist Dr Jeremy Grant said: "Obviously the effect of alcohol depends on how much one is regularly exposed, but even at that level one would expect impairment of judgement, some loss of motor co-ordination, reaction times would be diminished and visual acuity would be reduced as well."

Recording a verdict of accidental death, West Sussex coroner Roger Stone warned of the dangers of drink-driving.

He said: "We all have sympathy that he should have suffered death in that way, even if alcohol was a factor.

"But it is right that a measure of sympathy goes towards Mr Lambert. There was nothing he could have done."