Joseph Walker, 40, was charged with second degree murder and manslaughter for reportedly shooting Joseph Harvey, Jr. on Interstate 97 near Millersville on Saturday.
Maryland State Police said Walker got into an argument with Harvey at around 8:30 p.m. The two then began driving on the interstate, but shortly after pulled over to the shoulder of the highway. Walker reportedly got out of his vehicle, walked toward Harvey and shot him with a .45 caliber Glock.
Harvey was pronounced dead later that night at Baltimore Washington Medical Center.
Walker's wife and three children were reportedly in the car with him at the time of the shooting. He is being held at the Anne Arundel County Detention Center in Annapolis, Md. while police continue to investigate the shooting.
Notable deaths of 2014 [PHOTOS]