OKLAHOMA CITY (AP) — Two Oklahoma City police sergeants have been cleared in the fatal shooting of a man along Interstate 35.

Capt. Bo Mathews said Friday that prosecutors found Sgts. Wesley Parsons and Dustin Fulton were justified in opening fire June 10 on 24-year-old Vincense Dewayne Williams Jr.

In body-worn camera video Fulton is seen getting out of his police vehicle, armed with a rifle and shouting commands to Williams. Williams is seen standing upright, then bends down, where police said he picked up a handgun he had dropped.

Fulton can be seen firing at least four shots, then saying,...