It happened at 6:45 a.m. Monday in the 3500 block of Princeton Pike near Lewisville Road.
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Police tell Action News a pickup truck and a sedan collided, sending both off the road.
Seventy-six-year-old Maddie Everett of Lawrenceville, the driver of the sedan was pronounced dead at the scene.
Forty-seven-year-old Henry Hoffler of Trenton was identified as the driver in the pickup truck.
Police say he suffered a medical emergency when his truck was travelling northbound and struck the sedan in the southbound lane.
Hoffler had to be extricated from the pickup truck.
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He was taken to Capital Health Regional Medical Center in Trenton for treatment. He is listed in stable condition.