The three-day Shangri-La Dialogue, attended by Minister of State for Defence Rao Inderjit Singh and US Defense Secretary Ashton Carter along with counterparts from around the world, ended at midday today.
In the pre-dawn incident, near the Shangri-La Hotel, the venue of the conference, a man was shot dead and two others were detained.
"When asked to open the car boot for checks, the driver suddenly accelerated the vehicle towards Anderson Road. Despite Police warnings to stop, the driver continued to crash through Police barricades, endangering the lives of the officers," the police said in a statement.
"Police opened fire at the vehicle to stop further danger. The vehicle subsequently stopped at the junction of Orange Grove Road and Anderson Road," it said.
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Roads and pathways leading up to the hotel, located in Singapore's diplomatic area, were shut off with barricade tape.
But access to the venue was later allowed and the conference resumed at 9:00 am (local time).
Singh had presented a paper at the conference yesterday.
Due to the ongoing Shangri-La Dialogue, security measures including vehicle and person check points were put in place in the vicinity of the hotel.