Help, was I just asked out by my neighbor? How do i politely decline?

I dont know how to feel about this situation and it would help to get some outside perspective. I've been living in my current apartment building for just over a year. The man next to me has been living in the neighboring apartment since I moved in. We've only said a few words, he helped me with my car once, another time he asked me for some bandaids.. that's it. He's always been very polite and respectful but I never got a vibe that he was interested. Quite the opposite actually. That he prefered to keep interactions short. Btw I'm 26 and I'm guessing he is 45 or older. Anyway this evening he knocked on my door and at first i thought he was going to complain I was being noisey because he never knocks on my door, so I immediately felt anxious. He went on to say " I know you've been here a while and we havent really had a formal introduction, I dont really know many people in this building but you know sometimes I just have to get out of here and I'll take a drive down to ( popular touristy place near us) and i was wondering if you'd like to come with me sometime. I understand if you're not interested or if you're a private person but i thought id ask." and I stupidly said ok in an anxious, not thinking clearly state.. trying to be polite and I'm terrible at saying no to people.. but it was left very vague with no clear plan just " ok maybe sometime" and he mentioned he was off work this week. I dont think I actually feel ok about it. I dont even know for sure he was asking me out. Could have been just a friendly invite ( probably not i know). I know nothing about him apart from he has a couple of grown children. But now I feel like jerk for implying I would go with him. It felt so on the spot, I was in my pajamas and everything. Anyway i feel like i need to tell him im not interested but dont want to make things awkward.. would sliding a letter under his door be ok? Or is it best to speak to him in person? Does this situation sound inappropriate to anyone, like the age gap? He's always been a nice man who i appreciated as a neigbor but this has totally thrown me. I personally have never been attracted to him but I'm not put off either. Just never gave him much thought but again i hardly know him. Ahh what do i dooo

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