PORT ST. LUCIE, Fla. (CBS12) — An 86-year-old woman died after police said she pulled into the path of an SUV and was struck in a Port St. Lucie intersection Thursday afternoon.

The crash happened at about 2:30 p.m. at Southwest Savona Boulevard and Southwest Lawndale Avenue, according to the Port St. Lucie Police Department.

Investigators said Marie R. Martin was driving a 2006 Hyundai Elantra west on Lawndale Avenue when she entered the intersection from near a stop sign and failed to yield to a northbound 2026 Honda HR-V.

The Honda, driven by a 17-year-old boy, struck the driver’s side of Martin’s car, police said.

Body-camera video recorded after the crash shows the Hyundai off the roadway near a cluster of palm trees, with visible damage to its driver’s side and emergency crews working around the vehicle. The Honda also came to rest on the grass nearby, close to vegetation and a roadside sign.

An 86-year-old woman died after police said she failed to yield and her car was struck by a teen driver in a Port St. Lucie intersection. (PSLPD)

Several Port St. Lucie police officers and St. Lucie County Fire District personnel can be seen at the scene, along with fire engines, rescue vehicles and traffic cones blocking part of the intersection. Debris and emergency equipment were scattered across the grass between the two vehicles.

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Martin had to be extricated from the Hyundai before she was taken to HCA Florida Lawnwood Hospital with critical injuries, police said. She later died despite efforts to save her.

The teenage driver of the Honda was not injured.

The Police Department’s Traffic Homicide Unit continues to investigate the crash.