The incident began at around 7:30pm on Monday evening when a lorry was hijacked at Arendonk (Antwerp province).
The gangsters used a black Audi van with a flashing blue light on its roof to force the lorry to stop.
A total of five shots were fired.
The driver was able to escape and report the incident to the police.
The gangsters drove off and a few kilometres further on they were able to successfully hijack a second lorry.
The gangsters tied the driver up and drove off in the truck.
Meanwhile, the police had set up a road block at the border.
On their arrival at the road block, the gangsters opened fire with automatic weapons and rammed one of the police cars.
Miraculously no-one was injured.
The lorry was set on fire just over the border in the Netherlands.
The gangsters made their escape and are currently still at large.