55-year-old boxing legend Pernell Whitaker has died after he was hit by a car in Virginia Beach on Sunday night, TMZ reports. Officials first received a call at 10:04 p.m., and when they arrived they discovered Whitaker in bad shape. He died of his injuries shortly after.

The driver of the car that hit Whitaker stayed at the scene and spoke to police, but it's not clear if they were arrested. Police continue to investigate the incident.

Whitaker made a name for himself as an amateur boxer in the early 1980s before he was dubbed as one of the best active boxers in the world by the '90s. He was a four-weight world champion, meaning he won titles as a lightweight, light welterweight, welterweight, and light middleweight fighter.

Whitaker also competed in the 1984 Summer Olympics in Los Angeles, winning a gold medal. In his later days, he transitioned to training boxers. He is survived by five children.