It happened early Thursday morning in Montgomery near exit 5A.
State police say troopers responded to a report of a disabled vehicle in the middle of the highway.
As they arrived at that scene, another report came in of a 41-year-old man walking along the westbound shoulder of I-84, near exit 5.
The troopers left the disabled vehicle and caught up with the man.
Investigators say one trooper got out of the patrol car and engaged the individual in conversation, while the other drove the vehicle beside them.
Police say the man "refused to comply with any commands and multiple times ignored the troopers and made furtive movements."
WATCH: Police briefing on trooper-involved shooting
When the man made a movement to enter the moving troop car, the trooper outside the vehicle fired more than once at the man, hitting him.
The man was taken to Orange County Regional Medical Center, where he was pronounced dead.
His name has not been released. Police say he was not from Orange County.
I-84 was shut down for several hours as police continued their investigation. It was back open by 9:30 a.m.
The investigation into the incident continues.
Stay with Eyewitness News and abc7ny.com for more information as it becomes available.
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