The victims, hailing from Nanded district of Maharashtra, were on their way to Tirumala on a pilgrimage when the coal-laden lorry collided with their four-wheeler between Rajampet and Nandularu at around 5.30 AM, police said.
Around 18 persons were travelling in the ill-fated vehicle, Kadapa district superintendent of police Manish Kumar Sinha said.
The injured were rushed to a nearby hospital, he added.
