The dramatic footage shows a vehicle pass through a green traffic light at the bottom of the eastbound exit slip road of the M62 at junction 27 for Gildersome in the early hours of Tuesday morning, when a lorry approaches from the left, causing the driver to stop in the middle of the carriageway.
The driver of the lorry was reported.
In a tweet, motorway officer for West Yorkshire Police Martin WIllis said: "This video shows why it's always crucial to proceed through a junction with caution and keep your eyes on other traffic, even when you have a green traffic light!
"Luckily for me I did, otherwise that would have hurt! Driver reported."