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

The New Jersey attorney general’s office said Friday that a state grand jury voted against filing charges in the death of 40-year-old Kevin Harlfinger of Perth Amboy during a Dec. 28 encounter with Cranford police on the Garden State Parkway in Woodbridge.

Authorities said the officers were chasing a stolen vehicle that crashed near Exit 131 in the southbound lanes of the parkway, and Harlfinger exchanged gunfire with officers and was killed. One of the officers was treated at a hospital for a gunshot wound.

A firearm was recovered from Harlfinger and spent shell casings recovered from the scene were determined to have come from that weapon, authorities said.

Cranford Chief of Police Ryan Greco thanked investigators and emergency responders in a Facebook post after the decision. He said officers like the two involved in the shooting face “perilous split-second situations” daily that could result in their death but “thankfully, in this situation, the officers were allowed to go home to their families.”