Another six people are said to be injured, according to local police. The people who were hit by the car were waiting at a bus stop.
The incident occurred at around 08:30 on Sunday morning, local time, near a migrant center in the city bordering Mexico.
The majority of the dead are said to be Venezuelan men.
The car driver was held by witnesses until the police arrived. The man is now suspected of negligence in traffic.
It is still unclear whether the incident was an accident or not.