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A crash involving an ambulance killed an Upton woman Tuesday morning in Milford

(Milford Police Department)

The driver of a car that broadsided an ambulance in a fatal crash in Milford Tuesday morning appears to have run a stop sign before crashing into the emergency vehicle.

Police said it appeared the driver of a black Mercedes ran a stop sign before heading onto Route 140 and broadsiding the Community Emergency Medical Services ambulance.

Police also released video of the crash, caught by a surveillance camera at a nearby business. The 15-second video shows the ambulance being struck by the Mercedes, which does not appear to come to a full stop before making its way into the cross street.

In the video, the ambulance can be seen rolling into its roof. Later photos showed the ambulance came to rest on a guard rail, nearly slipping down an embankment into oncoming traffic.

The crash is being investigated by the Worcester County District Attorney's Motor Vehicle Homicide Unit, police said.

The patient being transported by the ambulance was killed, and a paramedic was injured in the Tuesday morning wreck.

Milford Patch reported police identified the victim as Karen Scott, 58, of Upton.

The woman driving the Mercedes, Lisa Zemack of Framingham, will be charged with a civil violation, according to Patch. The charge is not related to running through the stop sign, police said.

The ambulance company said the paramedic was treated at a local hospital and released.