Video shows smoke coming from the bonnet of the vehicle and police officers urging people to leave the scene and find alternative routes.
Parliament Square has been closed as a result of the crash. Streets around Parliament Square, Millbank and Victoria Tower Gardens have been cordoned off as dozens of armed police swooped on the scene.Footage on social media showed heavily armed police response units arriving at the scene.
Police said they could not immediately say whether it was a terrorism-related incident or not. "We're still trying to piece it together," a spokeswoman said. In March 2017, Khalid Masood, 52, killed four people on nearby Westminster Bridge before he stabbed to death an unarmed police officer in the grounds of parliament. He was shot dead at the scene.