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The crash happened at the intersection of State Highway 6 and the Arrowtown-Lake Hayes road about 5.45pm.
The Mitsubishi ended up on the left side of the road, facing towards Cromwell — the vehicle was extensively damaged and debris from both vehicles was strewn along the road.
Sergeant Steve Watt, of Queenstown, said initial investigations indicated the driver of the Mitsubishi pulled out of the Arrowtown-Lake Hayes road, heading towards Queenstown.
"This vehicle hasn’t allowed itself enough space to pull out."
It was hit by the truck-and-trailer unit, which was heading towards Cromwell, in an 80kmh zone.
A St John spokeswoman said one patient suffered moderate injuries and three others had minor injuries.
Police inquiries are continuing.