The driver got into a physical altercation with the group before running his vehicle into them and driving away, a San Francisco police official said.
Four of the five were sent to the hospital with life-threatening injuries as authorities hunted for the driver. One of them subsequently died.
A police spokeswoman said the department did not have any additional information on the suspect.
The incident occurred in the Dogpatch, an industrial area of San Francisco dominated by warehouses.
Police officers cordoned off the streets as onlookers relayed the aftermath.
Paul Lim told the San Francisco Chronicle that a passerby entered his place of business pleading for aid to assist the injured victims.
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