Two men have been arrested after a mother and three of her four sons were hit by a car and killed Tuesday night while attempting to cross a highway in Philadelphia. 

Relatives of Samara Banks told Banks and her four sons were returning home from visiting relatives when they were struck by a 2012 Audi while crossing Roosevelt Boulevard. Banks and her 23-month-old son died at the scene. Her 9-month-old died at a nearby hospital, as did her 4-year-old. Banks' oldest of the four sons, a 5-year-old, survived. reported the names of the men arrested as Khusen Akhmedov and Ahmen Holloman. Police believe the two were drag racing on the city's Roosevelt Boulevard when Banks and her children were struck. 

A police spokeswoman said Wednesday night that two men were being charged with four counts each of third-degree murder, homicide by vehicle and involuntary manslaughter. The two men also will face charges of recklessly endangering another person, aggravated assault, simple assault and aggravated assault by vehicle, police said.

Roosevelt Boulevard had the nation's 2nd and 3rd most dangerous intersections in a 2001 insurance company study, which tallied 618 crashes at those two intersections alone in a two-year period.

Banks often called a cab to take her and her four little boys home from family visits on the other side of Roosevelt Boulevard, relatives said. But on Tuesday night, she thought temperatures had cooled down enough to walk the mile back home from her aunt's house.

The family was attempting to cross at a point with grassy medians dividing the traffic lanes, but no crosswalk or traffic light.

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The Associated Press contributed to this report.