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The man who was caught on surveillance video dragging an unconscious woman from a SUV and leaving her on a Queens street corner Saturday has been cleared of any wrongdoing, cops said.

The unidentified man turned himself into police Tuesday evening and explained to cops that he had been driving with Safiya McLean, 18, in his vehicle when she had some kind of medical episode, police said.

That is when he stopped, pulled her out and propped her against a building at the intersection of 131st Street and Jamaica Avenue before finding a passerby to call 911, cops said.

He then waited at the scene for EMS to arrive before leaving, cops added.

McLean, who is believed to be homeless, remains in critical but stable condition at Jamaica Hospital, according to police.

The man in the video will not be charged and cops are still investigating.