Fremont P.D. tweeted the shooting happened near Stevenson Blvd. and Boyce Rd.
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The incident began around 4:45 p.m., when a patrol officer located the stolen car near Cushing Parkway and Auto Mall Parkway, FPD said in a press release.
When trying to stop the car, police say the driver fled northbound on Cushing Pkwy and eventually came to a stop at the dead-end of Stevenson Blvd.
Police say that's when several suspects ran away on foot.
"Officers began chasing the suspects until one suspect fired several rounds at the pursuing officers," police said. "Officers returned fire at the suspect and established a perimeter around the area."
No officers were injured during the exchange of gunfire.
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Two underage suspects were taken into custody shortly after, neither were injured.
Two additional suspects were later taken into custody, according to police.
They say a K9 unit was used to apprehend one of the suspects after "refusing to comply with directions from officers."
That suspect was taken to a local hospital for medical attention.
Police say a gun was recovered from the scene.
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The Fremont Police SWAT team is helping search for the suspect(s). It is unknown if the remaining suspect(s) are injured.
Police say detectives have taken over the investigation, and the scene and investigation remain active.
The Fremont SWAT Team, Newark PD, Union City PD, Milpitas PD, California Highway Patrol, and East Bay Regional Parks PD are assisting in the investigation.
SKY7 was over the scene where you could see a heavy police presence and an abandoned car that appeared to be involved in the incident.