Middlesex prosecutors concluded Tuesday that a Westford man killed in August 2016 while riding his bicycle in Lincoln veered across the center line and into the path of a Toyota Highlander at the time of the fatal collision.

“Based on the investigation and all available evidence, no criminal charges or civil motor vehicle infractions will be filed against the operator of the Toyota Highlander,” Middlesex District Attorney Marian T. Ryan’s office wrote in an e-mail Tuesday.

The bicyclist has previously been identified as Mark P. Himelfarb, 59, of Westford.