Greg Joseph kicked a 54-yard field goal as time expired and the Minnesota Vikings escaped after squandering a late 10-point lead, beating the winless Detroit Lions 19-17 in Minneapolis on Sunday.A pair of pass plays from Kirk Cousins to Adam Thielen totaling 40 yards set up the winning kick. Detroit had gone ahead with 37 seconds remaining on D’Andre Swift’s scoring run and a two-point conversion pass.Minnesota (2-3) defeated Detroit (0-5) for the eighth consecutive time.Alexander Mattison rushed for 113 yards and also caught a touchdown pass from Cousins. Mattison started in place of Dalvin Cook, who was inactive due to an ankle injury. Cousins completed 25 of 34 passes for 275 yards.Jared Goff passed for 203 yards for the Lions, who also lost to Baltimore on a last-second field goal this season. Swift had a combined 104 yards rushing and receiving.The Vikings took a 13-6 halftime lead.The Lions struck first on Austin Seibert’s 39-yard field goal.Joseph tied it with a 38-yard field goal on Minnesota’s first possession.Following a Detroit turnover, Joseph connected on another 38-yard try.