At the time, the PHV, a Toyota MPV, was carrying 2 elderly passengers reportedly in their 70s, and 2 maids.
All passengers were sent to hospital, with one of the maids suffering serious injuries.
The incident took place at about 9pm, at the junction of Ulu Pandan Road and Holland Road.
An eyewitness said that the Audi was travelling along Holland Road when it crashed into the Toyota which was making a right turn from Ulu Pandan Road.
The PHV driver, reportedly in his 30s, was sending the elderly couple and maids home.
Police investigations are ongoing.