The Maryland State Police have charged a New Jersey man in a fatal shooting on I-97 in Anne Arundel County Saturday night that stemmed from what they are calling an incident of road rage.

Joseph Walker, 40, was charged with second degree murder and manslaughter for allegedly shooting Joseph Harvey Jr., 36, of Halethorpe, Md. shortly before 8:30 p.m. Saturday.

Police say Walker and Harvey came into contact on I-97 before pulling over to the side of the road. Harvey and his passenger, whose name police aren't releasing, got out of their car and walked toward Walker's minivan.

Police say Walker then shot Harvey with a .45 Glock. Harvey was transported to Baltimore Washington Medical Center, where he died.

Walker, who police confirmed to be an officer with the Hudson County Prosecutor's office in New Jersey, was also transported to the hospital complaining of chest pains. He is currently being held at the Anne Arundel County Detention Center on a $1 million bond.