The attacker was found dead in the auto, while the motive was yet to be ascertained, the police said.
He says, "this was a frightful and sad day for the people of Muenster, all of Germany. and also the people of The Netherlands, who were sitting here and became victims". "This must be carefully investigated", he said after paying his respects to the victims with national Interior Minister Horst Seehofer and state premier Armin Laschet.
The perpetrator - Martin Botzenhardt, a 48-year-old man from Munich - shot himself after crashing the silver-grey coloured van into the outside area of the restaurant, police said.
The man who drove his van into a crowd in western Germany on Saturday was a German citizen with psychological problems and with ties to far-right groups, local media reported on Sunday.
Bode told reporters that police were checking witness reports that other perpetrators might have fled from the van at the scene. The report said police were searching his apartment.
The area of the crash, which is popular with tourists, is located in the old town of the city and is close to shopping centres.
Police also dispatched a bomb squad to the scene to check whether there were explosives in the van, the senior security official said.
An SCC spokesperson told dpa news agency that "everything had gone smoothly" during the race.
Muenster prosecutors and police said in a joint statement Sunday it was too early to say why the man had stored the chemicals at his Muenster home.
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It all leads up to Sunday's race, which starts at 4.10pm BST and where Hamilton and Vettel will again expect to lead the pack. Verstappen headed into the qualifying session with the hope he could get his vehicle high up on the grid for tomorrow's race.
The statement also said the man, who was not identified, was in touch with the Muenster health offices.
"Our thoughts and prayers go out to the families of those killed and we wish a full recovery to those injured".
Munster is a medieval university town, 300 miles west of Berlin.
Police stands guard in a street near the spot. Dozens of ambulances were near the cordoned-off area and helicopters were flying overhead.
Ugur Hur was working at a nearby cafe in downtown Muenster when the crash took place.
In its unsourced report Die Welt said the main suspect was known to Amri and had planned to stab to death spectators and runners at the half-marathon. "There were lots of people", Simonsen said.
The city was buzzing on Saturday - one of the first warm spring days of the year - and people were sitting outside the famous Kiepenkerl pub when the van was driven into the bar's tables with such force that the vehicle only stopped when it hit the pub's wall.
Chancellor Angela Merkel said in a statement that she was "deeply shaken" by the incident.
French President Emmanuel Macron said on Twitter his thoughts were with the victims and that France shared in Germany's suffering.