Two state troopers rescued a truck driver moments before his truck exploded, and the harrowing rescue was all caught on camera.

New Jersey State Police say that Trooper Robert Tarleton was in the middle of a traffic stop on Interstate 287 in Bridgewater Monday afternoon when he saw a tractor-trailer crash into a guardrail and bridge abutment in the express lanes of the highway. The truck then bursts into flames.

State Police Lt. Edward Reyer also witnessed the crash as he was on his way home from work. Reyer and Tarleton were able to pull the driver out of the cab of the truck, seconds before the cab exploded.

The driver, who was not identified, suffered some minor injuries in the crash and was taken to Morris Town Medical Center for treatment.

Police say that the cause of the crash is under investigation.