IRVINGTON, N.J. — Authorities have released the name of a man who was killed on the Garden State Parkway when he got out of the carjacked vehicle he was driving and tried to cross the highway on foot.

State police say Keith Belton was driving northbound in Irvington when he stopped in the center lane around 1:45 a.m. Saturday. The 24-year-old East Orange man then crossed the barrier into the southbound lanes at mile marker 144.7 and was hit by an SUV traveling in the left lane.

Belton was pronounced dead at the scene.

Authorities say the vehicle Belton was driving had been carjacked out of Elizabeth. But further details on that matter have not been disclosed.

A state police spokesman says it’s still not clear if Belton was involved in the carjacking.