SAN FRANCISCO -- The mother and daughters of a disabled Oakland man killed by San Francisco police officers in May have filed a wrongful death lawsuit against the city in federal court in San Francisco.

Cammerin Boyd, 29, was fatally shot by police on May 5 in the Western Addition area of the city after a chase by police who suspected him of threatening to kidnap a woman at gunpoint.

In addition to the city, the lawsuit names as defendants the five officers who pursued Boyd and allegedly fired at him.

The civil rights lawsuit was filed Monday by Boyd's mother, Marylon Boyd of Oakland, and his two daughters. It includes claims of wrongful death, unreasonable use of deadly force and discrimination against a disabled person.

Boyd's legs were amputated below the legs.

The city is accused in the lawsuit of failing to train officers to avoid excessive force and failing to train them in how to detain individuals with physical disabilities.

The lawsuit seeks financial compensation in an amount to be determined at a jury trial.

Police said last May that Boyd had fired at the pursuing officers and appeared to be reaching under his seat when he was shot.

Some witnesses have said he appeared to be trying to surrender. An autopsy report released in September said he may have had his hands up when he was shot, but the report did not reach a conclusion.