A Kentucky county has agreed to a $3.5million settlement with the family and passengers of a teenager who was fatally shot by a sheriff's deputy as she drove away from a party.

The family of nineteen-year-old Samantha Ramsey filed a wrongful death lawsuit last year after she was shot by Boone County Sheriff's Deputy Tyler Brockman in April 2014.

Plaintiffs' attorney Al Gerhardstein announced the settlement between the family and Boone County during a news conference Wednesday.

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The family of nineteen-year-old Samantha Ramsey (left) filed a wrongful death lawsuit last year after she was shot by Boone County Sheriff's Deputy Tyler Brockman (right) in April 2014

'I'm pleased with the changes the county's willing to make,' Brandi Stewart, Ramsey's mother (pictured), said

Video from WCPO

On April 26, 2014, around 2am, Brockman responded to a report of a large party in Hebron to check whether the drivers who were leaving were sober, news outlets reported.

Ramsey, who was driving three friends, didn't stop as she left the party and hit Brockman with her car, throwing him onto the hood, Brockman said.

The deputy said he felt the car speeding up and feared for his life so he fired into the windshield four times, killing Ramsey.

Her three passengers were then held at gunpoint.

The lawsuit said Ramsey was stopping the car when Brockman fired.

Toxicology reports indicated Ramsey had alcohol and marijuana in her system.

On April 26, 2014, around 2am, Brockman responded to a report of a large party in Hebron to check whether the drivers who were leaving were sober

Ramsey, who was driving three friends, didn't stop as she left the party and hit Brockman with her car, throwing him onto the hood, Brockman said

The shooting was not shown in the footage - the smoke is coming from the car after it crashed into a ditch

WCPO, citing an evidence report, says Ramsey drove over the deputy's foot in the lead-up to the shooting, and that his foot suffered bruising and his boot had tire marks.

A grand jury declined to indict Brockman in 2014. He is still employed as a deputy in Boone County.

Following the shooting, the sheriff's office is expected to revise its use of force policy by June 30 as well as have patrol officers wear body cameras by the end of 2017, Gerhardstein said.

Boone County attorney Jeff Mando, according to Local 12, said: 'I have known Sheriff Helmig for many years.

'He is always willing to examine new policies or practices to ensure that his department is operating safely and efficiently. I appreciate the hard work done on all sides to resolve this matter.'

'I'm pleased with the changes the county's willing to make,' Brandi Stewart, Ramsey's mother, said during the news conference.

'It will protect the citizens, as well as the sheriff's deputies.'

Stewart, according to WCPO, said: 'It hasn't been easy for our family, Samantha's friends, but with these changes that they are making, hopefully it will prevent another family from going through the tragedy that we have been through.'

The mother said she and Brockman met privately, according to WLWT.