New York State Police said two troopers fired on an attempted homicide suspect – identified Thursday as Rakim Tillery of Albany – after he opened fire on them during a traffic stop on the southbound lane of the state Thruway in Rockland County. 

Troopers Steven Missale and Ronald Raymond stopped the vehicle, a 2009 Mercedes connected to a shooting Wednesday on Hudson Avenue in Albany, just before 3 p.m. in the town of Ramapo, police said.

Tillery, 35, immediately fired on the troopers who both returned fire, state police said Thursday in a statement. Tillery died at the scene, police said.

Missale and Raymond are assigned to Troop T in Newburgh. They were treated at Westchester Medical Center and released, police said.

Attorney General Letitia James announced Thursday that the AG's Office of Special Investigation had opened an investigation into the death, as required by state law when a police officer is reported to have caused a death.

In a short statement, James said the driver of the car fired a gun at the troopers, and the troopers fired their guns at the driver. She added that a gun was recovered at the scene.

In a press conference at 6:15 p.m. Wednesday, Albany Police Chief Eric Hawkins said law enforcement developed information on the suspect in the shooting within minutes, which led to collaboration between city and state police in locating the suspect. 

The shooting victim was treated on the scene, and taken to Albany Medical Center, where he remains in critical condition, Hawkins said.

"This is an excellent example of hard work by Albany police, the Crime Analysis Center and State Police," Hawkins said.

One trooper sustained minor injuries. Police said there is no threat to the public and the investigation is ongoing.

Anyone with information is asked to call State Police Middletown at (845) 344-5300.

Clarification: An early version of this story incorrectly stated the man killed by police was a suspect in a homicide. He was suspected in a shooting in Albany.