Steelers 19, Ravens 16: Shaun Suisham kicked a 42-yard field goal as time expired and Ben Roethlisberger passed for 160 yards and a touchdown as host Pittsburgh outlasted Baltimore.

Roethlisberger went 17-for-23 passing and rookie Le’Veon Bell rushed for 93 yards for the Steelers (2-4), who have won two in a row since an 0-4 start. Heath Miller caught his 40th career touchdown pass and Suisham booted four field goals.

Joe Flacco completed 24-of-34 passes for 215 yards and a touchdown but Baltimore (3-4) was held to 82 yards on the ground.

Roethlisberger hit Miller over the middle for a 3-yard touchdown with 5:24 left in the first quarter but neither team managed to find the end zone again until late in the fourth. Justin Tucker and Shaun Suisham each kicked three field goals in between, with Suisham’s 38-yarder putting Pittsburgh up 16-9 with 9:59 left.

Baltimore finally put together a touchdown drive in the fourth quarter, marching 73 yards on 16 plays over 8:01 before Flacco’s 1-yard TD pass to Dallas Clark knotted the game at 16 with 1:58 to play. Pittsburgh nearly broke the ensuing kickoff for a touchdown but instead got a pair of first-down passes from Roethlisberger to maneuver into field goal range.

GAME NOTEBOOK: This marked the sixth consecutive Steelers-Ravens matchup in Pittsburgh to be decided by three points. … The Steelers entered the game 31st in the NFL in rushing at an average of 61 yards but churned out 141 yards on the ground. … Flacco has not thrown an interception in either of the last two games after being picked off six times in the previous two.