A Manatee County sheriff's deputy shot and killed a man overnight after a struggle in Bradenton, authorities said.

The incident happened just after midnight in the parking lot of a Winn Dixie supermarket at 53rd Avenue E. and 9th Street E.

After a deputy called in a suspicious vehicle in the parking lot, a second deputy arrived for backup and they both approached the vehicle.

As the deputies approached the vehicle, a man exited the vehicle's front passenger door, officials said. The man, later identified as 34-year-old Randy Allen Smith, was not obeying commands from the deputies and started to come at the deputies in an aggressive manner, according to authorities.

An altercation followed and one of the deputies was struck in the head, officials said. He was not seriously injured.

Both deputies then used a Taser on Smith, who continued to resist the deputies, they said.

During the scuffle, Smith pulled out a gun and one of the deputies pulled out his weapon and shot Smith, deputies said.

Bonnie Lyzenga, who lives nearby, said the commotion woke her from her sleep.

"Five shots, from what I can remember," she said. "I heard five shots and could see all of the police lights."

Smith was taken to Manatee Memorial Hospital, where he was pronounced dead.

Smith's girlfriend and 8-year-old son are having a hard time grasping what happened. Both came to the scene hours later in disbelief.

"We're still shocked," Angelisa Tepe said. "It's going to be hard for my son to understand. He's so close to his dad."

Tepe said she knew Smith was going through tough times, but said he wasn't violent.

“I don’t think he’d ever do anything on purpose to hurt anybody,” she said. “I don’t think he would actually shoot the cops or pull a gun.”

A witness who was in Smith's vehicle has been cooperative, according to authorities who also said cocaine and heroin were found at the scene.

Surveillance cameras outside of the businesses where the shooting took place do not appear to be functional and did not record video of the incident, officials said.

Officials have not released the deputies' names as of yet. The deputies will be placed on routine leave while the shooting is investigated by the sheriff’s office and the State Attorney’s Office.