A second man has died following a mistaken military shooting of a family car that has roused protests in Brazil.

Relatives tell Brazilian news website G1 that Luciano Macedo died Thursday in hospital.

Macedo was collecting recycling materials when soldiers opened fire on a family's sedan in Rio de Janeiro. Authorities say they confused the car with a similar one reportedly used in a robbery.

Driver Evaldo dos Santos Rosa died at the scene. Macedo was shot while trying to help those injured in the sedan.

Ten of the 12 soldiers involved in the shooting are in military custody while the case is investigated.