The accident took place on Vijayawada-Guntur National Highway near Koalnukonda village when they were returning from Tirupati, Tadepalli police station inspector Vinodkumar said.
Two persons were killed on the spot while the others succumbed to injuries during treatment at Vijayawada government general hospital.
The victims hailed from Madhuranagar in Vijayawada.
Three of them are identified as Uppalapti Rama Krishnam, Uppalapati Prasad Raju and driver Venkata Rama Raju, he said, adding, that the identity of the woman is yet to be ascertained.
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