The Black in America artist, real name Dewayne Coleman, was sitting in his parked car on the hard shoulder of the Pacific Coast Highway in Malibu, California when a pick-up truck crashed into his vehicle, rolling it into an embankment above the beach.

Coleman, 47, was pronounced dead at the scene, while his unnamed female passenger was taken to hospital with undisclosed injuries.

The truck driver, Philip Torries II, was arrested on suspicion of driving under the influence (DUI) and vehicular manslaughter, and he has now been hit with a wrongful death lawsuit which also targets city and state officials.

Yahdiya Coleman, the rapper's daughter, claims Torres' inattentiveness caused the crash, and she also believes he was drunk or on drugs, according to TMZ.com.

She has also taken aim at city officials for allegedly failing to install warning signs, lights or guardrails in the area.