About 40 more people were injured in the attack.
The 24-year-old suspect, who drove into a trade union demonstration from behind, had minor injuries when arrested. He is described as an asylum seeker from Afghanistan who had a valid residence permit and work permit in Germany. He has admitted to intentionally driving into the people. The prosecutor has announced that Islamist motives are being investigated.
The gathering he drove into consisted of people participating in a trade union demonstration for wage increases and better working conditions in the public sector.
It is unclear whether the act was directed against the specific demonstration or against a randomly selected crowd. There is also no information about connections to the international security conference that began in Munich on Friday.
Germany has been hit by a series of high-profile violent crimes and terrorist attacks recently, with perpetrators from Afghanistan, which has made the migration issue central ahead of the election in a week.