Authorities say a New Jersey detective is facing second-degree murder charges after a situation that began as road rage ended with a man dead, according to NJ.com.

State police in Baltimore say Detective Joseph Walker of the Hudson County Prosecutor’s office allegedly shot a 36-year old man from Maryland near the Baltimore suburb of Gambrills. Walker was driving with his wife and children—ages 3-11—in a minivan.

The detective was held Sunday on $1 million bon at the Anne Arundel County Detention Center.

Gene Rubino, spokesman for the Hudson County Prosecutor’s Office, did not offer much comment on the matter but did say the office was “aware of the fatal shooting incident involving one of our detectives, who was off duty and traveling in Maryland with his wife and children."

According to State Police, apparently the family was traveling approximately one mile from where the shooting occurred when the two cars—the minivan and a green Honda Accord belonging to Maryland resident Joseph Harvey Jr, who was traveling with a passenger—met.

The two cars stopped on the side of the road, for some unknown reason, on a ramp going to Route 97. Harvey and Walker got out of their respective vehicles. A statement from law enforcement said Walker, “allegedly announced that he was a police officer.”

According to the statement, "Harvey continued to approach Walker in a reportedly aggressive manner. Walker then brandished a firearm and shot in the direction of the two men, injuring Harvey." Harvey’s passenger stayed by the Accord.

Harvey was pronounced dead at Baltimore Washington Medical Center at 8:30 pm, authorities said.

Maryland State Police Spokeswoman Elena Russo said the autopsy on Harvey showed he was shot three times. "None of the wounds showed evidence of being fired at close range," she said.

Russo said she was unaware if the .45-caliber Glock pistol which Walker allegedly used to shoot Harvey was given to him by the Hudson County office.

Walker’s bail review hearing is set for today. Police handed down the charges after speaking with the Anne Arundel County State Attorney’s Office.

According to Russo, the shooting is still being investigated. Detectives continue to talk to witnesses of which some have yet to come forward.

"It’s a busy portion of the roadway there," she said. "So there were a lot a motorists going by at the time."

If you were a witness or have information about the shooting, contact Maryland State Police at (410) 761-5130.