A homeless man was struck during rush-hour traffic on Route 9 in Shrewsbury on Tuesday, according to police.

At 5:42 p.m., Shrewsbury police responded to a report of a pedestrian struck by a motor vehicle. The pedestrian and driver were on the scene when officers arrived.

Police determined that the pedestrian was crossing Route 9 from the median across the westbound lane when he was struck by a 2005 Subaru Legacy, driven by Joann Carson, 56, from Canton.

Carson was not injured. The pedestrian, Joseph Liberty, a 58-year-old homeless man, was transported to St. Vincent's Hospital in Worcester. His injuries do not appear to be life threatening, according to police.

The accident remains under investigation by Officer Nicholas P. Perna of the Shrewsbury Police Department.