A few days after the collision, Ms Holland’s family told Sky News that she was a “beautiful, loving, kind and caring lady who would always put anyone before herself”.

They had said that the mother of four, grandmother of 10, and great-grandmother of seven, from Birchanger in Essex, was a “well-respected and popular member of the community”.

“Helen may be 81 but she is sprightly for her age and nothing stopped her living life to the full, spending precious time with her family, muddy walks with the dogs and lunches with friends is what she enjoyed most.”

A Buckingham Palace spokesperson said: “The Duchess of Edinburgh is deeply saddened to hear that Helen Holland has passed away. Her Royal Highness’s deepest condolences and sympathies go to all of Ms Holland’s family.”

Ms Holland loved people, animals and the Royal family and believed the police could do no wrong, her sister told LBC. Ms Holland was a weekly country walker, said her sister, who compared her to an “angel” .

Her sister fixed a sign near the pedestrian crossing where it is understood Ms Holland was hit, stating: “Report what you saw on May 10 at 3.20pm. Helen died last night, don’t let her die in vain. It could happen to you. She was a great-grandmother who lived for others.”