Queensland Police have revoked the emergency declaration under the Public Safety Preservation Act (PSPA) in the Cairns suburb of Edge Hill in relation to a shooting incident on Thursday afternoon.

An exclusion zone had been set up in the inner suburb after police confirmed a firearm has been discharged shortly after 1pm and a person has left the area on foot after what is believed to an escalation of a road-rage incident.

At the time a police statement said: “Members of the public are advised to avoid the area while police respond, or stay inside with their doors and windows locked.”

An emergency call reporting shots fired was received from near the Tanks Art Centre on Collins Avenue in the North Queensland city about 1pm.

Police say that after arriving at the scene they found a white BMW and black Audi had collided.

It is alleged that a person in one of the cars shot at another travelling in the other car before leaving on foot.

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An emergency situation was revoked at 3.45pm, local time.

Investigations will continue, with police hoping to speak with three people.

They are described as a man with fair skin, black hair and no facial hair, a woman in her 30s with tan skin and wearing a dark top or dress, and a man in his 30s with tan skin, curly black hair and wearing a white shirt.

Members of the public are urged not to approach these people and to inform police if they see them.

Police believe there is no immediate threat to the public.