The incident took place when the autorickshaw driver lost control and rammed his vehicle into a speeding truck coming from the opposite direction, Deputy Superintendent of Police (DSP) Piyush Kant said.
Three occupants of the ill-fated autorickshaw died on the spot, while another succumbed to injuries in a hospital, he said.
Three of the victims have been identified as Md Alauddin (40), Meena Devi (34) and Shigu Tanki (32), Kant said adding the bodies have been sent for post-mortem and the injured man admitted to a referral hospital for treatment.