Fatal collision occurred when Williams was cut off partway through intersection by another driver, stopped to avoid crash, then continued, but was hit by another car as lights changed
Venus Williams drove her vehicle into an intersection legally moments before she was involved in a fatal car crash, police have said.
Detectives in Florida said footage of the collision between a married couple and the tennis star who was brought to tears at Wimbledon when she discussed the impact showed Williams lawfully entered the intersection at a green light in her Toyota Sequoia near her home in Palm Beach Gardens at around 1pm on June 9.
Major Paul Rogers said another car turned in front of Williams, causing her to stop to avoid a collision before she legally continued. At this point a Hyundai being driven by Linda Barson, which was approaching a red light to Williamss right, continued when the signal turned green.
Her car smashed head-on into the front right of Williamss vehicle, the officer said.
Barson, 68, and her 78-year-old husband, Jerome, were both injured and he died in hospital two weeks later on 22 June.
Williams, 37, was not hurt and she was not charged with an offence. Investigators initially said she was at fault but the video footage caused them to rescind that conclusion, and no blame has yet been determined.
The Palm Beach Gardens police department said the investigation remained under way after inspecting the video evidence.
Barsons family launched a lawsuit against Williams, claiming she was driving carelessly and recklessly.
Michael Steinger, the attorney for the Barson family, said the video showed Williams caused the crash by violating the Barsons right of way.
There is nothing that disputes Ms Williams was in the intersection on a red light, and the witnesses clearly confirm the Barsons had a green light and lawfully entered the intersection, Steinger said in a statement.
Williamss attorney, Malcolm Cunningham, disagreed, saying in a statement that Linda Barson was at fault.
Williams had the right to proceed through the intersection and other vehicles including those with a red light changing to green, were obligated to yield the right of way, Cunningham said, adding that Williams remains deeply saddened by the loss suffered by the Barson family and continues to keep them in her thoughts and prayers.
The five-time Wimbledon champion progressed to the fourth round of the tournament on Friday with a victory over Japans Naomi Osaka. Williams, who is world number 11, overcame her opponent 7-6 (7/3) 6-4 on Court One.
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