Johannesburg emergency services spokesperson Percy Morokane said all three occupants of an Opel Corsa sedan died when their car rear-ended the truck shortly after 4.30 am.
He said none of the five occupants of the truck including the driver sustained any injuries.
Morokane said the driver who was travelling form Walkerville to Malawi fled the scene soon after the accident.
The exact cause of the accident is unknown at this stage.
"According to information gathered at the scene, the truck driver was lost, so he stopped briefly alongside the carriageway and when he rejoined the highway the sedan plunged into his rear-end," said Morokane.
"We will have a clear indication of the cause of the accident when the scene investigators complete their work," he added.
Traffic is severely affected and motorists are advised to use alternative routes to avoid delays.
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