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The four, who are attached to the protection and security service (PSS) of the SAPS at the head office in Maupa Naga, Pretoria, were arrested at the scene by Independent Complaints Directorate (ICD) investigators.
Members of the PSS provide physical security to VIPs, including President Jacob Zuma, former presidents and cabinet ministers.
The shooting incident happened at the corners of Boom and Cowie streets at about 7.15am.
ICD national spokesperson Moses Dlamini said last night: "Nkosinathi Ntuli was allegedly driving on the wrong side of the road, facing on-coming traffic. The deceased is from Doornpoort in Pretoria. He was driving a Toyota RunX."
Dlamini said the officers were driving an unmarked vehicle. "The driver of the police vehicle was wearing plain clothes while the other three occupants were in police uniform.
"ICD investigators attended the scene of the shooting and arrested the officers - a captain, two sergeants and a warrant officer," Dlamini said.
Pretoria police spokesperson Captain Jan Legoabe said: "The officers were on their way to work when the incident happened. They haven't said anything yet. The man is said to have been obstructing traffic. The street where the incident occurred is busy.
"It is not known yet who the officers were going to render their services to. That is decided every morning."
Legoabe said it was not yet known how many times Ntuli was shot but a several spent cartridges were found at the scene.
The officers were expected to appear in court this morning.