The fire had spread to the vehicles caught up in the usual evening traffic on the bridge.
Passers-by walk amid burned cars after an oil tanker exploded on a highway on June 28, 2018 in Lagos killing nine people in a huge blaze. According to him, nine people were burnt beyond recognition while four others were rescued, with two in critical condition and two others with minor injuries.
The RRS said its men were also "on ground to manage the situation".
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Petrol tanker fires are not uncommon on Nigeria's roads, which are often in disrepair and where vehicles are frequently old and badly maintained. I had to abandon my vehicle and fled the road when the tanker exploded and fire started raging on the road. At least 30 cars have been reportedly destroyed by fire.
The incident on Thursday occurred at about 17:30 local time (16:30 GMT) on the Lagos-Ibadan expressway, one of the main motorways into the city. It's unclear if any lives were lost.
"As a government, we would not relent in putting measures in place to ensure safety of lives and property of all residents", said Lagos state government spokesman Kehinde Bamigbetan in an emailed statement. "The buses have been moved from obstruction while wounded passengers hospitalised".