Prosecutors have declined to file charges against three Los Angeles police officers who fatally shot an unarmed, disabled man on live television after a car chase.

In a letter obtained by The Associated Press in a public records request, prosecutors wrote that there's insufficient evidence to prove Officers Armando Corral, Leonardo Ortiz and Michael Ayala didn't act in self-defense or the defense of others when they killed 51-year-old Brian Beaird on Dec. 13, 2013.

Chief Charlie Beck determined two months ago that the officers violated department rules for deadly force and their actions weren't reasonable. The City Council approved payment of $5 million to Beaird's family to settle a federal civil rights lawsuit.

The officers attended retraining and could face further discipline.