The three Los Angeles Police Department officers who shot and killed Brian Beaird after a car chase on live television in 2013 will not face criminal charges, the Los Angeles Times reports. Beaird, a 51-year-old a National Guard veteran, suffered from mental illness.

The Times reports that district attorney Jackie Lacey found "insufficient evidence to prove beyond a reasonable doubt" that the officers "did not act in self-defense and in defense of others," according to a January 29th letter released Monday.

Beaird's 80-year-old father, who watched on live television as his son was gunned down, filed a $20 million claim against the LAPD in 2013. In August, the City Council approved a $5 million settlement.

According to the Times, however, Los Angeles Police Chief Charlie Beck determined late last year that officers Armando Corral, Leonardo Ortiz, and Michael Ayala had violated department rules when they fired 20 rounds at Beaird as he emerged from his crashed Corvette. Beck rejected the officers' claims that they felt their lives were in danger, the Times reports.

An LAPD spokesman told the paper that the officers had been relieved of duty without pay and were awaiting disciplinary action.

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