An East Orange man has died after he and his son were struck by a vehicle while crossing the street Saturday, the Essex County Prospector's Office says.

Brian Hope, 26, and his 3-year-old son were hit by a minivan as they crossed South Grove Street around 10:00 a.m.

Hope later died at University Hospital while his son remains in critical condition.

Three people in the minivan were also injured.

The minivan also hit a box truck. The driver of the truck was also injured.

Prosecutors say the driver of the minivan, Kadeem Robinson of Bloomfield, was taken in custody. He faces several charges including vehicular homicide.