At least five people were killed and 21 others injured when a bus drove onto a sidewalk in Rio de Janeiro, hitting several pedestrians, Brazilian emergency services officials said.

The accident occurred around 10:30 p.m. Tuesday on Avenida Brasil, one of Rio de Janeiro's busiest streets, near the port, the fire department said.

The bus driver lost control of his vehicle for unknown reasons, drove onto the sidewalk, hit the pedestrians and crashed into a wall.

Four pedestrians were killed instantly and a fifth died at a hospital.

Eight of the injured pedestrians are listed in serious condition at Souza Aguiar Hospital, which is near the accident scene.

The bus driver sustained fractures in both legs and other people aboard the bus were treated for minor injuries. EFE