It happened on US-59 in a northbound lane between Reading Road and FM 762 Wednesday around 8:10 a.m.
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Witnesses told authorities the man hit an animal they believed to be a dog. The driver stopped his vehicle in the road and was hit by a big rig. The driver of the 18-wheeler did stop.
A spokesperson for the Rosenberg Police Department called the death a horrible accident and doesn't believe any charges will be filed in the case.
Deputies were working to divert traffic to the feeder roads as Rosenberg police investigate.
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Drivers are urged to find an alternate route because the northbound lanes of US-59 will be closed from FM-2218 to FM-762 for an extended period of time.