BRAINTREE, Mass. (AP) — Police responding to a domestic disturbance call in Braintree have shot and killed a knife-wielding man.

Assistant Norfolk District Attorney Greg Connor says a man involved in the disturbance was found with the knife hiding under a car at about 3 a.m. Thursday.

Authorities say the man refused orders to drop the weapon and efforts failed to de-escalate the situation by non-lethal means, including use of a beanbag gun.

Connor says the man continued to brandish the knife in an "aggressive" manner and police opened fire.

The man was pronounced dead at the hospital. He was identified as 44-year-old Robert Dussourd.

No officers were hurt.

The investigation is ongoing and an autopsy is scheduled.