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At least 18 people were travelling in the vehicle when it was involved in a collision with the lorry at around 6 a.m, police added.
The injured have been admitted to a hospital in Mangaluru and the condition of two children is said to be serious, they said.
The family, hailing from Ullal in Dakshina Kannada district of Karnataka, was returning from Palakkad after inviting relatives for a function when the mishap occurred, police said.