Update: Police have charged the driver of a sanitation truck who allegedly killed a cyclist and left the scene of the accident Thursday in Charlestown.

Ricky Prezioso, 41, of Swampscott, has been charged with leaving the scene of an accident after causing death.

A judge set Prezioso’s bail at $5,000, and denied a request from prosecutors to order a GPS monitor and revoke his driving rights, NECN’s Katelyn Tivnan reports.

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The defense argues that the cyclist hit the truck, and that Prezioso was unaware a cyclist had been struck:

Original story: A bicyclist was killed in a hit-and-run collision in Charlestown on Thursday afternoon, a press release from the Boston Police Department said.

The release said the male victim was struck at Cambridge and Spice Streets in Sullivan Square by a “sanitation truck, white in color with black lettering.” He was pronounced dead at the scene.

Authorities are still investigating the incident and are hoping the public can help to find the vehicle and driver responsible.

According to BostInno, two advocacy groups lobbied at the State House on Thursday for the passage of bike and pedestrian protection bills.

MassBike and WalkBoston proposed two bills – one that imposes heavier consequences on drivers who endanger “vulnerable users” like cyclists and pedestrians, and another that prohibits vehicles from occupying bicycle lanes.