Five people have been arrested suspected of being involved in the suicide car attack near Beijing's Tiananmen Square.
Beijing police the three people who died when they carried out Monday's incident have also also identified, and called it a carefully planned terrorist attack.
Two tourists, including a hit by the speeding vehicle, were also killed and another 38 injured. Police said knives, iron bars , petrol 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 north-western region of Xinjiang where extremists have been battling security forces for years.
Of the 38 injured, five needed surgery, 12 are in intensive care, and 21 are in ordinary wards.