MIAMI (CBSMiami) – Miami-Dade Police, along with several other agencies, were involved in a high-speed pursuit that began as an alleged home robbery and battery on a police officer and ended with shots being fired.

Police gave chase to the suspects, who were in a stolen Mercedes Benz, around Kendall Drive and 92nd Avenue in Miami-Dade County. From there, the suspects began speeding up the Don Shula Expressway before ending up on the Palmetto Expressway.

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The Mercedes would crash into a box truck on the Palmetto and that left damage on the front end of the car. The suspects then turned around and began going the wrong way down an entrance ramp onto the Palmetto.

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After speeding through a neighborhood, the suspects eventually ran into a fence and cops were able to box the Mercedes on NW 167th Street, west of 27th Avenue and south of the Palmetto. The chase lasted between 10 and 15 minutes through rush hour traffic.

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The driver of the Mercedes jumped out of the vehicle and began to run into the wooded area on the side of the highway.

Law enforcement opened fire on the driver and the rest of the suspects stayed in the vehicle.

Two of the suspects were shot, police said. One was taken to the hospital in critical condition. The other was stable Friday night. Another suspect was injured in the crash. The fourth man was unharmed. No police officers were hurt.

Detectives believe the suspects disposed of a gun during the chase. It has not been located.

The driver was eventually pulled out of the wooded area and placed on a stretcher and taken from the scene in an ambulance.

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Police marked off the scene and the Palmetto Expressway was shut down from NW 37th Avenue to NW 12th Avenue.