The scrap metal smashed in the roof of the vehicle on the driver's side, authorities said.
The Florida Highway Patrol says 36-year-old Jesus Armando Escobar of Orlando suffered only minor injuries on Saturday when the metal fell from an Interstate 4 overpass and landed on top of his Pontiac van, smashing the roof.
The scrap metal truck overturned and a 7,000lb (3.2-tonne) pipe segment fell off it, then rolled over the side of the overpass and onto Jesus's Pontiac van, crushing it nearly completely, according to WFTV9.
The pipe fell off an overpass from a truck loaded with scrap metal, WFTV reported.More news: Trump Supporters Dis CNN at US Women's Open
Amazingly, Escobar walked away from the accident with only minor injuries. "He is a father to three small children and he's our miracle", she said in a statement.
The truck struck the guardrail and flipped over, The Florida Highway Patrol said.
Local police gave the truck driver a ticket for careless driving.
"Another foot to the left and he would be dead", Florida Highway Patrol Sgt. Kim Montes told People magazine, referring to Escobar.