Bob Franklin

Bob Franklin was a human policeman. He first met his wife Julia when she started at a local hospital as a junior pathologist. (PROSE: The Devil Goblins from Neptune)

The Franklins encountered the Fifth Doctor in Los Angeles in 1999. (PROSE: The King of Terror)

On their 40th wedding anniversary sometime in the early 21st century, they pick up the hitchhiking Seventh Doctor whilst driving to Redborough. (PROSE: The Hollow Men)

Behind the scenes
Bob Franklin and his wife Julia have encountered various incarnations of the Doctor in several Keith Topping novels, never realizing the connection. (REF: I, Who 3)