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WEST MELBOURNE, Fla. -- A pizza deliveryman fatally shot a knife-wielding robber after making a delivery to a West Melbourne motel.

Authorities with the Brevard County Sheriff's Office said Bryon Park, of Palm Bay, had just returned to his vehicle when when he was approached by Fredrick Kelly Jr., about midnight Friday at the Days Inn on West New Haven Avenue.

Investigators said Kelly approached Park with a large knife and threatened to kill him if he didn't hand over money.

Officials said Park was able to get a hold of a firearm he was carrying in his vehicle and fired a single gunshot that killed Kelly.

"Preliminary evidence in the case demonstrates that the intended victim of the robbery acted in self-defense while being robbed by a violent criminal who was armed with a knife," Brevard County Sheriff Wayne Ivey said.

Authorities said Kelly previously had been convicted of armed robbery and false imprisonment. He was released from prison in 2009.

An investigation is underway.

Anyone with information about the case is asked to call the Brevard County Sheriff's Office at 321-633-8413 or Crimeline at 800-423-TIPS.