The vehicle was targeted in Pir Keley village, 10 kilometres (six miles) east of Miranshah, the main town in North Waziristan.
"It was a US drone attack and four militants were killed," a Pakistani security official told AFP.
A second security official also confirmed the attack and the death toll.
Increasing number of attacks
The United States has been increasing attacks, and is reportedly seeking to expand the areas inside Pakistan where Central Intelligence Agency (CIA) drones can operate, The Washington Post reported late Friday.
Citing unnamed US and Pakistani officials, the newspaper said US officials were eyeing areas surrounding the Pakistani city of Quetta, where the Taliban leadership is believed to be hiding.
Pakistan on Saturday said that it would not allow the United States to expand the drone operation on its soil.
“Action against militants in Pakistan’s territory will be carried out by Pakistan and under no circumstances will the drone attacks be allowed to expand,” said Foreign Office spokesperson Abdul Basit.
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