James William King Sr., 45, of no fixed address, was fatally hit on Furnace Branch Road.
Upon arrival, officers found a 1999 Chrysler 300 stopped in the northbound lane near the double yellow line, police said.
Lying in the southbound lane of Furnace Branch Road next to the Chrysler was a man who was unresponsive, police said, who was later identified as King. He was declared dead at the scene, police said.
Police said the Chrysler's driver was traveling north on Furnace Branch Road when a male pedestrian, who had been walking on the northbound shoulder, attempted to cross the roadway.
Police said the pedestrian failed to yield the right of way to oncoming traffic and stepped in front of the Chrysler. After the crash, the vehicle's driver called 911 to get medical help, police said.
Preliminary reports indicate that neither speed nor alcohol contributed to the crash, police said, adding that it appeared pedestrian error was a significant contributing factor.