The Baltimore Ravens faced multiple chances to put the Pittsburgh Steelers away on Sunday.

But they left the door open too long and made too many mistakes as the Steelers rallied to stun their AFC North rivals in a 17-10 win. After sputtering on offense all afternoon, the Steelers capitalized on their chances by making multiple big plays in the game's final minutes to secure the win.

Baltimore had a shot to put the game away with a touchdown chance in the final five minutes. But Joey Porter Jr. intercepted Lamar Jackson in the end zone to give the Steelers the ball with 4:06 remaining and a 10-8 deficit.

On the ensuing drive, Kenny Pickett found George Pickens for a 41-yard touchdown in the final two minutes to give the Steelers a 14-10 lead after a two-point conversion.

The score was the first touchdown of the day for the Steelers, and it gave them their first lead of the day.

The Steelers' defense answered to help secure the Pittsburgh win. Alex Highsmith forced a Jackson fumble that T.J. Watt recovered, setting up a Steelers field goal with 49 seconds remaining.

The Ravens couldn't answer in their last chance on offense, and Pittsburgh secured the win to keep the AFC race tight five weeks into the season.

It was a frustrating finish for a Ravens team that largely outplayed the Steelers but blew multiple chances to put the game away. Ravens receivers recorded several drops, including a pair that would've led to scores.

Rashod Bateman had a touchdown in his hands on a pass from Jackson in the second quarter that could've extended Baltimore's lead to 14-0. After he dropped it, the Ravens settled for a field goal to go up 10-0.

Late in the third quarter, Jackson looked deep down the right sideline to Nelson Agholor while Baltimore led 10-3. Agholor let a would-be touchdown pass slip through his hands, and the Ravens punted on the drive.

Until his late interception, Jackson had a strong day under center that was belied in the box score due to the Ravens' drops. He finished completing 22 of 38 passes for 236 yards without a touchdown. He added 45 yards on the ground on six carries. The Steelers' defense kept constant pressure while tallying four sacks and the late fumble.

Pickett, meanwhile, saved his stat line and the Steelers' day with a late 41-yard touchdown toss. He completed 18 of 32 passes for 224 yards with the single score and no turnovers. Baltimore outgained Pittsburgh on offense, 335 yards to 289, but couldn't capitalize on the strong day on defense.

Both teams leave Week 5 at 3-2, tied atop the division. They'll meet again in Week 18.