Car equation moving along y axis: y = 40 - (160/60)t with t in min and y in km
Truck equation moving along x axis x = 30 + (140/60)t
distance between them is d = sqrt(x2+y2)
To find rates, take implicit derivatives with time
dd/dt = (1/2)d-1/2(2x*dx/dt + 2y*dy/dt)
Evaluate at t = 5. (You know the rates of x and y, and you can calculate x, y, and d at 5 minutes)