A 55-year-old man has died after being hit by a car Friday evening, Anne Arundel police said.

Donald Wayne Warfield of Glen Burnie was crossing Crain Highway northbound at about 8:30 p.m. when he was struck by a Toyota Corolla. He was taken to Baltimore Washington Medical Center, where he died early Saturday morning as a result of his injuries, police said.

According to the preliminary police investigation, the driver of the car, 50-year-old James Raymond O’Leary Jr., was not speeding or intoxicated at the time. The crash is believed to have been caused by pedestrian error, as Warfield was not in the crosswalk, police said. The investigation is ongoing.