NEW MILFORD — The investigation into last week’s fatal Route 7 crash may still be underway — but police now have an idea of what happened.

A woman was killed, a man injured and a truck partially submerged in the Housatonic River the morning of June 11, after a crash near the intersection of Kent and Cedar Hill roads.

“Our accident investigation team has done mapping and are trying to establish the facts in the case — but at this point, it appears that the victim in the crash … was traveling southbound on Kent Road and crossed into the northbound lane, which was the lane the truck was traveling in, and they collided in the northbound lane,” New Milford police Lt. Lawrence Ash said Wednesday.

The crash occurred around 9 a.m., and sent both vehicles down an embankment.

The car, driven by 24-year-old Christina Walters of Kent, rolled halfway down the embankment.

The truck, driven by 56-year-old Jeff Greiner of Poughquag, N.Y., rolled 100 feet down into the river.

Greiner escaped the partially submerged truck and waded to shore, police said. He was taken to Danbury Hospital and later released.

Walters was pronounced dead at the scene.

The section of Route 7 where the crash occurred had wire rope guide rails and center-line rumble strips — neither of which guarantee safety, said Department of Transportation spokesman Kevin Nursick.

Guide rails are meant to “attenuate impacts and redirect to some extent,” Nursick said, while rumble strips are designed to help prevent head-on collisions by alerting drivers when they’re crossing over the yellow line.

Walters died of “blunt impact of head, torso and upper extremities with fractures and visceral injuries,” according to the Office of the Chief Medical Examiner. Her death was ruled accidental.

Ash said New Milford police are still awaiting toxicology results from the state medical examiner’s office.

Loved ones remembered Walters as “a great friend” who was “always full of spunk.”

A memorial service was held for her Tuesday at the Munson-Lovetere Funeral Home in Woodbury.