A man was killed in a shootout with police Thursday evening as he tried to flee a traffic stop in Gwinnett County, officials said.

The GBI said 39-year-old Steven Scott, of Lula, died at the scene of the incident, which came to an end near the intersection of Jimmy Carter and Peachtree Industrial boulevards. No officers were injured.

According to officials, Scott had outstanding arrest warrants for an armed robbery in Hall County when Gwinnett police tried to pull him over around 6:30 p.m. in the parking lot of a Waffle House on Jimmy Carter Boulevard in the Overlook area. He initially stopped but then drove off while shooting at officers, police said. At least one bullet struck the window of the restaurant.

A detective in an unmarked car watched as the scene unfolded and jumped into action, activating his emergency lights and trying to block the exit to the parking lot with his vehicle, authorities said. That didn’t deter Scott, the GBI said, as he opened fire and continued driving toward the exit and onto the road.

One of those bullets struck the unmarked car and became lodged in the driver’s seat where the detective had been sitting, police spokeswoman Sgt. Michele Pihera said.

Police still needed to apprehend Scott, so an officer in a marked patrol SUV initiated a pursuit, following him until he lost control while turning, Pihera said. Because Scott was speeding during the turn, his vehicle began to spin on two wheels and came to a stop near a utility pole, she explained.

An officer then conducted a PIT maneuver on Scott’s vehicle to prevent him from driving away, the GBI said.

“The suspect immediately began firing at the officer through his windshield and passenger-side window just prior to the officer’s patrol SUV colliding with the suspect’s vehicle,” Pihera said. “The officer immediately exited his patrol SUV and returned fire, striking the suspect at least once.”

Officers tried to save Scott following the shooting, but he did not survive.

Thursday’s incident was the 20th officer-involved shooting the GBI has been asked to investigate this year. At this time last year, the state agency had investigated 32 such shootings.

Once the GBI is finished with its investigation, the case file will be given to the Gwinnett County District Attorney’s Office for review.