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Chinese police say five people have been arrested on suspicion of involvement in a suicide car attack near Beijing's Tiananmen Square.

A statement on the Beijing police microblog said the perpetrators of Monday's attack were also identified, and labeled it a carefully planned terrorist attack.

All three died when their vehicle exploded. Two tourists, including a Filipino woman were hit by the speeding vehicle, were also killed.

Police said knives, iron rods, gasoline and a flag imprinted with religious slogans were found in the vehicle.

The three attackers, including one woman, and the five arrested all had names identifying them as members of the Turkic Muslim Uighur ethnic group native to the restive northwestern region of Xinjiang where extremists have been battling security forces for years.