An Escondido man faces criminal charges for driving under the influence and manslaughter in the death of a woman who was crossing the street Sunday, according to police.

The victim's family told NBC 7 that after years of looking out for the baby in the family, they're now looking out for the woman's 10-year-old child.

Esmeralda Eusebio Guerrero, 32, was crossing north on Washington Ave. with her boyfriend when she was hit by a Ford Ranger pickup, the Escondido Police Department confirmed.

Joel Francisco Juan, 32, swerved to avoid Guerrero's boyfriend and hit Guerrero.

Emergency personnel took Guerrero to Palomar Hospital where she died from her injuries.

Family members are remembering her for her playful nature, and say she was the life of the family that kept them laughing.

"Just joking around horseplaying, playing with the dogs. We always joked around about everything. She was real fun," her brother Ricardo Eusebio said.

Guerrero was the youngest and only girl in a family of five. Eusebio says that after years of looking out for her, their focus is now his 10-year-old niece.

"It hasn't sunk in yet, but slowly she's processing," Eusebio said.

A small streetside memorial of candles burns on the corner where the mother and aspiring chef's life was extinguished.

A GoFundMe page has been set up to help the family.

Juan was booked on felony DUI and gross vehicular manslaughter charges. He is scheduled to make his first court appearance Tuesday.

The investigation is still ongoing, Escondido police said.