The driver of the 10-seater autorickshaw was the other deceased in the mishap that occurred at GN Kandrika village, about 45 km from here.
The victims were travelling in the vehicle after offering prayers at the famous Lord Shiva temple at Sri Kalahasti on the occasion of "Maha Shivaratri".
All the five persons, including two women, were killed on the spot in the head-on collision, police said.
The injured persons had been admitted to SVRR Government Hospital here and their condition was stated to stable, they said.
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