A Harrison police officer opened fire Tuesday morning after he was struck by a vehicle during a motor vehicle stop, authorities said.

According to a press release from Hudson County Prosecutor Esther Suarez, the Harrison police officer initiated a traffic stop around 4:20 a.m. in the area of Jersey and Seventh streets. The vehicle stopped but then drove off as the officer approached the driver, striking and injuring the officer as he fled.

Suarez says that the officer discharged his service weapon after the driver took off. The officer was taken from the scene to St. Michael's Medical Center in Newark, where he was treated for minor injuries and released.

Harrison Councilman Larry Bennett said that the officer suffered minor cuts and bruises but is doing well.

The officer's name has not yet been released.

No arrests have been made at this time. The Office of the Hudson County Prosecutor has taken over the investigation per the attorney general guidelines.

Anyone with video or information about the incident is asked to contact the prosecutor's office at 201-915-1345 or to leave an anonymous tip on the Hudson County prosecutor's official website. All information will be kept confidential.