But Willie McCoy's family has pushed back, saying the aspiring rapper was not a threat to the officers as he was just waking up.
Vallejo police had been called for a wellness check when a driver was spotted slumped over in his vehicle.
The man was pronounced dead at the scene on 9 February.
"Any loss of life is a tragedy," police chief Andrew Bidou said in an updated report of the incident on Tuesday.
The police report does not name Mr McCoy as the driver, citing the ongoing investigation, but local media identified him after speaking with family members.
Vallejo is a city near San Francisco that has been the site of several alleged cases of police brutality against black residents.
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