The California Highway Patrol began receiving reports of a plane crash just after 12:30 p.m. on Tuesday.
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The incident happened along the eastbound lanes at Lincoln Avenue.
Dashcam video captured the moment the small plane crash-landed on the freeway and burst into flames.
WATCH | Dashcam video shows moment plane crash-landed on 91 Freeway
Dashcam video shows plane crash-land on 91 Freeway, burst into flames
CHP officials said there were two people on the plane and three in the truck. Thankfully, everyone was able to walk away unharmed.
The single-engine Piper Cherokee aircraft erupted into flames following the crash, but firefighters put the blaze out quickly.
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The pilot said the crash may have been caused by possible engine failure during the plane's final descent into Corona Municipal Airport. The exact cause has not yet been determined.
WATCH | Surveillance video shows plane crash-landing on 91 Freeway in Corona
Surveillance video shows plane crash-landing on 91 Freeway in Corona
Authorities say it could have been much worse if the crash occurred during rush hour.
"Absolutely very fortunate today. The traffic was light, and the pilot appears to have made some good landing navigations and avoided what could have been a very bad tragedy," said CHP Capt. Levi Miller.
The two right lanes on the eastbound 91 and the Lincoln on-ramp were closed and expected to remain shut down through much of the afternoon rush. Drivers in the area were urged to seek an alternate route as authorities cleared the scene.
Meanwhile, the Federal Aviation Administration issued the following statement:
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"An unidentified small plane landed on the eastbound 91 Freeway near Interstate 15 in Corona, Calif., around 12:30 local time today. Two people were on board. The FAA will investigate. The agency does not identify people involved in aircraft accidents or incidents."
WATCH | AIR7 HD over the scene of the plane crash
Plane crash lands on 91 Freeway in Corona, 2 occupants escape uninjured