FREDERICKSBURG, Va. -- Police say the driver of a Stafford County fire truck tried to avoid a pedestrian who was struck and killed while crossing a road.

Stafford County Sheriff's Office spokesman Bill Kennedy says 69-year-old John Whitehurst of North Myrtle Beach, S.C., wasn't using a crosswalk when he tried to cross a darkened section of a six-lane road. He died at a local hospital after the fire truck hit him.

The fire truck was responding to an accident on Interstate 95 when it hit Whitehurst on Friday evening. Kennedy says in a news release that the fire truck's siren and lights were activated at the time of the accident.

Kennedy says the driver has been cleared of any wrongdoing. The driver's name won't be released.