EDISON - A Hudson County detective was arrested and charged with murder after a road rage incident in Maryland that turned deadly.

Maryland State Police responded Saturday evening to a shooting on the shoulder of the ramp from northbound Route 3 to Interstate 97 near Millersville.

Police say Detective Joseph Walker, 40, nearly collided with Joseph Harvey Jr., 36, and then both drivers swerved their vehicles at each other. Investigators say the men pulled over, got out of their cars, and confronted each other. Troopers believe Walker allegedly shot Harvey after he approached Walker's minivan. Harvey later died.

A spokesman for the Hudson County Prosecutor's Office says Walker was off-duty and traveling with his wife and children at the time.

Joseph Walker, 40, is a sworn officer with the Hudson County Prosecutor's Office.

Walker is being held at the Anne Arundel County Detention Center on $1 million bail.