Veteran actor Orson Bean was struck and killed by a car Friday night in Venice, California, authorities said.

Los Angeles police say a pedestrian was walking in the area of Venice Boulevard and Shell Avenue when he was clipped by one vehicle and fell. Other bystanders tried to warn a second driver, but he also struck the pedestrian. Police say the second collision was fatal. Both drivers stayed at the scene.

A friend who witnessed the accident confirmed that the pedestrian who was hit is Orson Bean.

Investigators say the initial indication is this was just a tragic accident. It appears Bean had come from between two vehicles when he was crossing the street and was not seen by the drivers.

Bean had been married for 27 years to actress Alley Mills, best known as the mother in “The Wonder Years,” and outspoken secretary Pam on the Bold and the Beautiful. Witnesses say she was at the scene.

The collision happened in front of the Pacific Resident Theatre, where both Bean and Mills were company members. Bean was crossing busy Venice Boulevard to the theater, where his wife was working, friends say.

Here’s more from ABC 7 Los Angeles:

Bean made more than 100 appearances in television and film in an acting career that spanned back to the 1950s.

Bean continued to perform into his 90s, appearing in the show “Superstore” and the film “The Equalizer 2” in 2018.

Most recently, Bean and Mills had been performing in a play called “Bad Habits” at the Ruskin Group Theatre in Santa Monica, which just ended its scheduled run last week.

He was 91.