The incident occurred when they were returning to Maharashtra after visiting Pavagadh pilgrimage centre in neighbouring Panchmahal district.
A police official said the condition of three of the injured persons is serious.
The deceased are identified as Sunil Patil, Kavitaben Patil, Yaminiben Patil and driver of the jeep Bhagat Surve, said Bodeli police station sub-inspector Harendrasinh Bhati.
He said the victims are residents of Shirupr and Jalgaon in Maharashtra.
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