A man has been shot dead by police in regional New South Wales after allegedly aiming a loaded rifle at officers responding to a car crash.

NSW police were responding to reports that a car had driven into a tree on a road 84km north of Yass about 2.50pm on Sunday.

Officers arrived to find a Chrysler station wagon that had crashed into a tree, with the driver appearing to be unconscious.

Police had been told that the man had a firearm with him in the car, an assistant commissioner, Stephen Hegarty, said on Monday.

“They received information that he took up a firearm in the car and that he was also in the car, not responding to members of the public,” Hegarty said. “That’s why they obviously contacted the police.”

Paramedics were also on the scene.

“Police attended that location and confirmed there was a male still inside that motor vehicle,” Hegarty said. “They approached that vehicle to check on his welfare and medical assistance if required. As they approached that vehicle, they tried to speak and communicate with that person but he did not respond.”

The man then picked up the firearm and pointed it “directly at the police officer”, Hegarty said.

“At that point, I can confirm that police opened fire and he was struck at a number of rounds.”

Police said the gun the man held was loaded.

The police officers were “quite close to the car” when the shooting occurred, Hegarty said.

“They were trying to get to the person to render assistance, to check on his condition.”

Police and paramedics tried to render first aid but the man died at the scene.

The driver was yet to be formally identified but was believed to be aged 45, was known to police, and had previously been charged with firearm offences, Hegarty said.

A crime scene was established and an investigation has begun.

The investigation will be the subject of an independent review by the professional standards command, overseen by the Law Enforcement Conduct Commission.