The incident occurred last night when the SUV was on its way to Hyderabad.
"The accident occurred as the SUV suffered a tyre burst, as a result of which it hit a road divider and landed on opposite lane on national highway 16 when it was hit by a lorry coming from opposite direction," said Nakkapalle polite station inspector GR Babu.
The deceased were identified as Rajesh Singh (42), his son Subhash Singh (19), Roopa Lal (49), Shreya (18 months) and Neha Singh (18).
Rajesh and Heera Lal, who is among the injured, are working as advocates in Hyderabad.
They, along with their family members, were on a religious tour and visited Bhadrachalam, Araku, Vizag, Simhachalam and few other places.
A case under section 304 A (causing death by negligence) of IPC has been registered.
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