HAYWARD — Police fired on two men earlier this week as the men fled the scene of a home-invasion robbery, authorities said Thursday.

The two escaped.

A 19-year-old man and his father were at home around 3 p.m. Monday in the 28000 block of Capitola Street in the city’s unincorporated Fairview neighborhood when two gunmen entered, police said in a statement.

While the men threatened the residents and stole valuables, the teen managed to call police. Arriving officers saw the gunmen leave the home.

When at least one of the robbers pointed a gun at them, three of the officers fired their service weapons. Police did not identify the officers but said the three have six, nine and 18 years of law enforcement experience.

The suspects, described as African-American males about 5-foot-11 and 150 to 160 pounds wearing dark hooded sweatshirts, managed to get away in a two-door, black Honda Accord. Neither had been found or identified as of Thursday evening.

Police released images of the suspects taken from surveillance-camera footage in hopes of helping others locate the two.

“This remains an ongoing investigation as witness and officer testimony is gathered and evidence is analyzed,” police said in the statement. “Anytime Hayward police officers use force, regardless of degree, it is a serious matter that requires a thorough investigation.

“In addition to an internal investigation, the Alameda County District Attorney’s Office has been notified of this incident as per protocol.”

Anyone with information is asked to call Hayward police Detective Steve Riley at 510-293-7176.

Contact George Kelly at 408-859-5180.