The deceased have been identified as Varinder Kumar (28), his daughter Jivika Kumar (5), son Krishan Kumar (2) and friend Hardeep Singh (30).
Varinder's brother Jatinder Kumar, who was driving, has been hospitalised, police said, adding that a case has been lodged against the truck driver.
The incident occurred when Jatinder was going to drop them at Harike bus stop, they added.
Varinder, from Kirtowal village, and Hardeep, from Sabhra village, were friends and worked in Chennai. They had come home to meet their families, police said.
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