Policemen guard near the attack site in Levallois-Perret, France on August 9, 2017.
London and France have both been hit by car-ramming terrorattacks in the last 18 months.
The incident, described by police as deliberate, "does nothing to dent soldiers' determination to work for the security of the French people", Parly said in a statement. "This vehicle was waiting for them", he said.
Failed attacks by individuals have also taken place on police and soldiers on the Champs-Elysees, near the Louvre museum and outside Notre Dame cathedral.
After reviewing video surveillance, police descended onto Paris and the surrounding area, conducting vehicle searches in their hunt for the attacker, the Associated Pressreported on Wednesday.
After a manhunt of several hours, one suspect was shot by police and arrested on a highway leading from Paris.
"The soldiers were rushed to hospital", he added.
Witnesses to the incident have suggested that the driver was alone in the auto when it ploughed into the group of soldiers.
"I heard a loud noise, the sound of scraping metal", a nearby resident, Jean-Claude Veillant, toldBBC.
"It's without doubt a deliberate act ..."
"The vehicle did not stop", Balkany said. "They must've really planned this", he said.
Three of the six injured soldiers are in a serious condition, but their lives are not in danger, according to the ministry.
The soldiers were from the 35th infantry regiment and served in Operation Sentinelle, created to guard prominent French sites after a string of deadly Islamic extremist attacks in 2015.
Four days after an attempt to attack other soldiers at the Eiffel Tower, the anti-terrorist section of the Paris public prosecutor's office seized the investigation.
"A suspect who was driving the auto involved in the attack has been arrested on the highway between Paris and Boulogne-sur-Mer", said Mr Philippe.
Interior Minister Gerard Collomb said after that attack in June that it had demonstrated the threat was still very high in the country and that it justified the ongoing state of emergency put in place in 2015.
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