HONOLULU -- The widow and child of a man killed by a tour bus filed a lawsuit against the driver and the bus company, saying the bus company was guilty of gross negligence for allowing him to drive.

The Roberts Hawaii bus crossed the centerline in Kahaluu two years ago, killing Corey Voss in his sports utility vehicle.

The bus driver, Steven Oshiro, pleaded guilty to manslaughter for driving impaired, but never admitted using drugs. A tourist's video showed Oshiro was struggling to control the bus that day.

The lawsuit said after a minor accident early that morning, Oshiro asked to go home, but Robert's supervisors refused and ordered him to take a tour group to the Polynesian Cultural Center.

The lawsuit said Roberts should not have forced Oshiro drive when he apparently knew he was impaired.

The company has not responded to the lawsuit.