The driver of the van, identified as Raju Rohit, was arrested in connection with this case, they said.
"The mishap took place late last night when the police van collided with the auto rickshaw parked on the road, while trying to save a girl who was crossing the road," E Radhakrishna, the city Police Commissioner, told PTI.
"Two of the five occupants in the rickshaw died, while three others sustained injuries," he said.
According to the police, the deceased hailed from Rajasthan and had come here for labour work.