The accident occurred late last night on Vansda-Unai road, they said.
"The autorickshaw was in the right direction but the truck, which was coming from the opposite side, collided with it as the driver lost control over the wheels after its front tyre burst," Vansda police sub-inspector J V Chavda said.
"The truck was on its way to Unai on Vansda-Unai road while the autorickshaw, carrying the family members from Vehwal village in Mehuva taluka, was going to Vansda to take the child to a doctor. All seven persons were relatives from the same village," he said.
The deceased include the child and his parents, police said.