Kishan Singh and Yogender Gurjar, aged between 25 and 32, were rushed to a nearby hospital where the latter's condition is said to be critical, police said.
Vipin was heading towards Duhai village around 7 AM when his SUV was hit from behind by a car driven by Amit Gurjar, police said.
Annoyed over the issue, Vipin opened fire with his licensed-pistol, but Amit managed to escape unhurt, they said.
"Amit's friends, Kishan and Yogender, who were passing by, intervened into the matter and tried to calm down Vipin," said a police officer.
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"Meanwhile, Vipin opened fire at Kishan and Yogender," the officer said. Yogender suffered a bullet wound in the chest and Kishan in his hand, he said.
After the incident, Vipin, Nitin and Surrender fled from the spot.
Sources said that about three months back, Vipin had shot at his father over a minor issue.
"We are investigating the case and the accused would be arrested soon," the officer added.