Officials say it a big rig and another smaller car were involved in the crash. It was the person in the smaller car who was killed.
All eastbound lanes of I-580 in the area were closed for hours. Around 10:15 p.m., Caltrans told CHP the bridge was safe and secure.
"The #1 lane is now open as we continue to process and clear the scene. Please use caution while driving through the area. Thank you for your patience," CHP said.
A witness tweeted video of the scene. It showed the view through the front windshield of the car, as the driver and passenger discussed what to do next.
As they approached the tunnel, one says, "I don't want to go in this tunnel if it's on fire... We can't go."
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You can see a truck engulfed in flames, an orange mass appearing to take up all the space in the tunnel.
Cars began slowly reversing, as much as possible.
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"When you're on the Richmond San Rafael bridge and there's a truck 25 yards in front of you that is engulfed in flames and it keeps exploding," the tweet said.
Further information about the incident is not available at this time.
Stay with ABC7 News for the latest details on this developing story.