No charges are to be laid over the death of a man who was in a collision with a car hours after he left hospital in Merthyr Tydfil, say prosecutors.
Police investigated the final hours of Raymond Ashley Robinson, 38, from Markham, Blackwood, Caerphilly County.
He discharged himself from Prince Charles Hospital and died after a collision on the A465 at Dowlais.
The Crown Prosecution Service (CPS) said action against the car driver would not be appropriate.
Mr Robinson, a father-of-four who was known as Ashley, was admitted to hospital the day before the fatal collision.
He discharged himself at about 0050 BST on Friday 18 September 2009.
Police said he was in a collision with a white Peugeot 307 as he was believed to be crossing the road near the Asda roundabout in Dowlais at about 0535 BST that morning.
He suffered multiple injuries and died a short time later in hospital.
The car driver, 43, and a 35-year-old woman were arrested by South Wales Police on suspicion of dangerous driving.
Last December, South Wales Police said no action would be taken against the woman following advice from prosecutors.
The CPS said it had now "considered all the available facts" in relation to the driver.
In a statement, it said: "This was not an incident where a criminal charge would be appropriate in relation to the driver of the vehicle.
"Given the tragic events of this incident, this decision was reviewed by the Chief Crown Prosecutor for South Wales who fully agreed with the decision and no further action will be taken.
"Our thoughts remain with Mr Robinson's family."