A New Jersey police officer has been charged with second-degree murder and manslaughter for allegedly shooting a man to death, while off-duty, in what is described as a road rage shooting.

Joseph Walker, 40, who works in the Hudson County prosecutor's office in New Jersey, is accused of shooting to death Maryland resident Joseph Harvey Jr., 36, at around 8:30 p.m. EDT on Saturday on a highway in Anne Arundel County, while Walker’s wife and three children looked on, the Washington Post reported.

Hudson County prosecutor's office spokesman Gene Rubino said the office is aware of the incident involving one of its detectives. “We are aware of the fatal shooting incident involving one of our detectives, who was off-duty and traveling in Maryland with his wife and children.”

Harvey was driving a Honda, which came into contact with the Kia minivan that Walker was driving on the shoulder of Maryland Route 3 before both vehicles came to a halt on an exit ramp.

The report pointed out that despite Walker warning that he was a police officer, Harvey walked toward him in what is reported to be a confrontational manner, prompting the off-duty detective to fire the shot.

Harvey was rushed to the Baltimore Washington Medical Center where he succumbed to his wounds on Saturday night, Reuters reported, adding that Walker was also taken to the same hospital after he complained of chest pain.

Walker, who was held on a $1 million bond, is expected to appear before a court commissioner on Monday morning.

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