The mishap took place at around 6.30 am in Aswapuram mandal of the district when a speeding lorry crashed into an auto-rickshaw coming from the opposite direction.
The impact of the crash was so powerful that the auto driver and three passengers travelling in the three-wheeler died on the spot, Aswapuram Police Station Sub-Inspector Santosh said.
The lorry driver has been taken into custody and is being questioned, he said.
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