The man killed on the Aire valley trunk road when his 4x4 is believed to have broken down on the nearside lane on Tuesday night, has been named as Mohammed Majid.
Mr Majid, 31, of Greystones Drive, Keighley, is understood to have got out of his green Daihatsu Fourtrak to investigate the problem.
His vehicle is believed to have been hit by a red VW Transporter Panel. The driver received slight injuries.
Two other people, including a 20-year-old man, were also hurt and treated in hospital.
The accident happened at about 10.30pm on the A629 about half-a-mile from Hard Ings round about, on the Keighley to Steeton section of the road, and before the Keighley golf club bridge which spans the carriageway.
Police are seeking witnesses or people who may have seen both vehicles before the accident. They should telephone 0845 6060606.
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