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The victims were returning to their village in Kadapa district in Andhra after receiving a family member, who had arrived in Chennai from Kuwait, police added.
The accident occurred when the car smashed into a cement-laden lorry, police said, adding all the occupants of the car were killed. Either of the drivers could have slept off at the wheel leading to the accident, police added.
The victims included two couples and a one-year-old boy, police said.