(CNN) The family of a Connecticut man fatally shot by a state trooper is calling for the officer to be fired and criminally prosecuted.

Mubarak Soulemane, 19, was shot and killed January 15 after a reported carjacking and high-speed chase that ended near Interstate 95 in West Haven, according to the Connecticut State Police.

Family and friends of the young man, who say he'd been diagnosed with schizophrenia, held a protest this week following the state police's release of video of the shooting from the body cameras and the in-car cameras of officers involved in the incident.

Police said a white Hyundai was carjacked in Norwalk by Soulemane armed with a knife. He led police on a high-speed chase on I-95 into New Haven, police said. He struck two cruisers and a civilian vehicle before he was boxed in by troopers shortly after exiting the interstate, according to police.

Police camera footage shows a trooper breaking the passenger side window while other officers shout at the driver to exit the car. An attempt to use a stun gun on Soulemane proved "ineffective," police said in a statement.

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