A “loving father”, his baby boy, and a married couple have been named as the four people killed during a police chase in Sheffield.

Adnan Ashraf Jarral, 35, and his one-year-old son, Usman Adnan Jarral, were killed when his people carrier was hit by a VW Golf that was being pursued by police in the Darnall area of the city on Friday night, their family said.

The others who died were husband and wife Miroslav Duna, 50, and Vlasta Dunova, 41, South Yorkshire police said on Sunday afternoon. A force spokeswoman said that their 22-year-old daughter, Nikola Dunova, was injured and remains in hospital in a serious but stable condition. Her daughter, Livia Matova, three, remains in a critical condition.

It is understood the family were friends of Jarral’s wife, Tahreen, who is recovering in hospital.

Three men in the Golf – aged 17, 18 and 23 – were arrested and remain in custody after suffering minor injuries.

Investigators said dashcam footage suggested the police car did not hit either of the civilian vehicles.

Jarral’s uncle, Shafqat Mirza, said his nephew was a “loving father” who was “full of life” and was extremely proud of his two sons and his stepson.

Mirza said: “It’s been absolutely devastating for all of us and all the family. Here we have a young man who was with us, around us, always asking everybody how we [were], and now we find that he is no longer with us.”

Tributes left at the scene. Photograph: Dave Higgens/PA

Family friends told the Sun that Jarral was driving the black VW Touran people carrier back to Sheffield from London, accompanied by his wife, baby son and their friends, who are reported to be Slovakian.

Because the Golf was being pursued before the collision, South Yorkshire police have referred the incident to the Independent Office for Police Conduct (IOPC).

IOPC regional director Miranda Biddle said: “This is a tragic incident and our thoughts are with those families who have lost their loved ones and all those affected by what happened on Friday evening, including the emergency services who attended.

“As soon as we were informed, we sent investigators to the scene and we will be carrying out an independent investigation to establish what actions South Yorkshire police took prior to the crash. This is standard procedure when lives are lost following an incident involving the police.

“By attending the scene we have been able to view dashcam footage which confirms that, although a pursuit did take place prior to the crash, there is no indication that the police vehicle collided with either of the vehicles involved.”