All the victims were occupants of the minibus.
Police said that the driver lost control of the minibus and it hit the truck, parked at an eatery near Chitragopi village, from behind killing two persons on the spot.
Another person died during treatment at Aurangabad Sadar Hospital where all the injured were admitted.
The driver, however, fled from the scene.
The bus, which was going to Anugrah Narayan railway station from Aurangabad town, and the truck were seized, police said.
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