It came after demonstrations throughout France for a sixth consecutive Saturday.
The violence was captured on video by a journalist who was present at the scene and the images quickly went viral.
The auto driver, aged 36, died in the accident near Perpignan, a police source told Reuters on Saturday, bringing to 10 the death toll linked to the anti-government protests.
But the movement - named after the fluorescent vests motorists are required to have in their cars - has gradually lost steam in recent weeks, with just 66,000 people taking part in protests nationwide last Saturday compared to almost 300,000 on November 17., according to interior ministry data.
Nantes was another town where the Yellow Vests made a strong showing, blocking the centre until being cleared by the police, whose methods are increasingly coming under the spotlight.
However, the protesters are still taking to the streets, demanding more concessions from the government. "It's tough, we're always struggling", he said.
The number of protesters on the French capital's elegant Champs-Elysees Avenue was down sharply.
Police fired tear gas and used water cannons against demonstrators.
"I think it's going to happen", the 48-year-old said.
The French national Assembly approved the proposals of the President of Emmanuel Macron to the participants of mass protests in the country.
Roadblocks by protesters were also reported on autoroutes near the border with Italy and at a bridge in Strasbourg near the German border. And he said while the yellow vest protests seem to be abating, police are seeing a "growing intensity of violence against security forces".
French stores reported an average drop-off of 25% in sales compared with the same period a year earlier, junior economy minister Agnès Pannier-Runacher told French TV.
A driver died overnight when his vehicle slammed into the back of a truck stopped at a roadblock set up by "yellow vest" protesters at an auto route entrance in Perpignan on the Mediterranean coast, prosecutor Jean-Jacques Fagni said.
A Facebook event organised by Drouet had listed thousands of people "interested" in joining the Versailles demonstration but only around 60 have shown up.
Of the ten deaths linked to the protests, most have been the result of road accidents.
The turnout on the streets of Paris and other cities was smaller than in previous weekends, authorities said.