The 25-year-old black man's death sparked protests in Akron, Ohio, last year after police released footage of gunning him down.
Officers chased the car on a freeway and city streets until Mr Walker jumped out of the still-moving vehicle.
Mr Yost said Mr Walker took at least one shot at police from his vehicle and then, after jumping out of his car, he ignored commands to stop and show his hands.Mr Walker reached for his waistband as officers were chasing and raised his hand. The officers, not knowing he left his gun in the car, believed he was firing again at them, Mr Yost said.
The eight officers, whose names have been withheld from the public, were initially placed on leave, but returned to administrative duties three and a half months after the shooting.
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