WOODBRIDGE, N.J. (AP) — State officials say no charges will be filed against police officers in a gunfight with a man on a New Jersey highway last year that left the man dead and one of the officers injured.

A state grand jury voted against indicting him in the death of Kevin Harlfinger, 40, of Perth Amboy, during an encounter with Cranford police on the Garden State Parkway in Woodbridge on Dec. 28, the New Jersey attorney general’s office said Friday.

Officers were chasing a stolen vehicle that crashed in the southbound lanes of the parkway near Exit 131, and Harlfinger exchanged gunfire with officers and was killed, authorities said. One of the police officers injured by a bullet was treated in hospital.

Authorities said a firearm was seized in Harlfinger and the spent casings found at the scene were determined to have come from that gun.

Cranford Police Chief Ryan Greco thanked investigators and emergency responders in a Facebook post following the verdict. He said police officers, like the two officers involved in the attack, face “dangerous immediate situations” every day that could result in their death, but “thankfully in this case, the officers are allowed to go home to their families.”