A police officer this week has been charged with manslaughter in the roadside shooting of a Maryland man.

According to the Maryland State Police, Hudson County, New Jersey police officer Joseph Walker is being held on $1 million bond for charges of second-degree murder and manslaughter. Walker allegedly shot a man during a road rage incident in Maryland Saturday night.

Walker allegedly shot 36-year-old Joseph Harvey to death on the side of Route 3 just south of Baltimore late on Saturday. Harvey was driving a Honda Accord with one other passenger when he entered the northbound side of Route 3. Walker, who was driving a Kia minivan, encountered the other vehicle at this point, though police have not stated what sort of incident may have occurred. Walker followed Harvey for around a mile before both vehicles stopped on the shoulder of the road. Both Walker and Harvey exited their vehicles, and Walker then shot Harvey using a Glock .45 handgun.

Harvey was taken to Baltimore Washington Medical Center, where he later died. Walker was also taken to the hospital after complaining of chest pains.

Maryland State Police homicide detectives are now investigating the shooting. Possible witnesses are being interviewed, particularly to understand the “driving behaviors” of both Harvey and Walker shortly before the shooting.