CAMDEN COUNTY, N.C. (WVEC) -- North Carolina State Highway Patrol officials say a driver faces charges after hitting and killing an 81-year-old man riding a bicycle down NC 17 Sunday.

We're told the victim was 81-year-old Aubrey Lee Lewis. Patrol troopers say Lewis was struck from behind as he was riding his bike on U.S. Route NC 17 around 5:20 p.m. Sunday.

The accident happened in a 55 mph zone on the highway.

Tuesday, his family spoke with 13News Now at People Baptist Church, Lewis' home church in Chesapeake.

"He loved to push himself, to be active and to interact with his children," Kimberly Browning, Lewis' daughter.

"If he felt like he was putting on a little weight, he would go biking even if it were three or four miles a day," Lewis' oldest daughter, Cathy Hale.

Lewis sustained traumatic injuries from the incident.

Authorities found his body on the narrow asphalt shoulder after he was ejected from the bike.

"We miss him, just like we miss our mother," said Susan Sutton, Lewis' daughter.

Lewis lost his wife and son to cancer a few years ago.

The driver, 33-year-old Ashley Vereen, was charged with failing to maintain lane control and misdemeanor death from a motor vehicle.

Vereen stayed on scene after the accident and was written a citation when officers arrived.

Coming from a background of faith, Lewis' daughters said they forgive the driver.

"Jesus forgave us, so we're supposed to forgive others," said Hale.

"[He also] showed love," said Browning. "And I think that's one of the biggest things that dad tried to teach us."

Police say it is not illegal to ride your bike on a state route. It is legally deemed as a motor vehicle.