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MIAMI (CBSMiami) – An investigation is underway after City of Miami police said two men were killed when a man driving a stolen vehicle struck a bicyclist.

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Cellphone video captured a fiery scene off NW 12th Avenue and 53rd Street Monday night.

According to police, after the man in the stolen vehicle struck the bicyclist, his vehicle then struck a light pole, a tree and the side of a home before bursting into flames.

City of Miami police said the vehicle, which was reported stolen from Sunny Isles Beach, was speeding on NW 12th Avenue.

“As soon as this vehicle approaches 54th street, it strikes a cyclist that was at the intersection,” said City of Miami Police Lt. Freddie Cruz.

“It actually caused the bicyclist to the thrown into the air, the vehicle’s still traveling southbound and it collides with a tree in front of a house and burst into flames,” said City of Miami Fire Rescue Capt. Ignatius Carroll.

The impact was so severe it broke the tree in half and caught the attention of people at a nearby busy shopping center.

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Several Good Samaritans ran to try and help the man inside the vehicle.

“Ten to 12 of us tried to help but some people backed away when the fire get a little hot,” said Good Samaritan Richard Smith.

“I just saw everybody running pretty much that way and the cops and the firefighters came right away,” said Mayuli Bas, who was at a nearby shopping center when she heard the crash.

According to City of Miami Fire Rescue, the bicyclist sustained severe trauma to his body too gruesome to even describe.

“This has got to be one of the most gruesome and violent crashes that I have ever seen in my career,” said Capt. Carroll.

“Anybody could have gotten killed.  There are children.  It’s a residential area.  It’s very scary,” said Bas.

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The cause of the crash remains under investigation.  Police have not released the name of the driver or the bicyclist.