The incident happened on May 5.
The Los Angeles Police Department said officers with the Narcotics Enforcement Detail were searching for a suspect with multiple warrants.
When officers spotted the suspect, who was identified as Jason Vega, he fled on foot and made his way down to the 210 Freeway. That's when he reportedly tried to carjack a driver in the westbound lanes.
WB 210 Fwy shut down in Sylmar after police shoot armed suspect
According to police, Vega jumped onto the freeway and ran across traffic lanes. Video of the incident, which was posted on the LAPD YouTube channel, shows Vega moving across the roadway.
Investigators said that when Vega did not comply with commands to drop his weapon, at least one officer opened fire.
Vega was also struck by a less-lethal round before officers took him into custody, authorities said.
The investigation into the shooting remains ongoing.