BUFFALO, N.Y. (WIVB) — A wrongful death lawsuit has been filed regarding a woman who, police said, was shot and killed by her estranged husband in 2022. The suit was filed Tuesday in Erie County State Supreme Court by the family of Keaira Hudson against the Town of Cheektowaga, the Cheektowaga Police Department and Adam Bennefield, the man accused of killing Hudson. Hudson's mother alleges that home video footage of an attack on Hudson by Bennefield should have compelled police to file more serious charges against Bennefield. Hudson turned the video over to police on Oct. 3, 2022. Bennefield was charged with misdemeanors and released on his own recognizance. However, she alleges that Bennefield's history of domestic violence should not have allowed him to be released. She further alleges that police knew of the history. Bennefield is accused of shooting and killing Hudson in her car at the intersection of Shawnee and Richlawn Avenues with Hudson's three young children in the back seat of the car two days later on Oct. 5. Police said at the time that Hudson was wearing a bulletproof vest when she was shot. Following the shooting, Bennefield led police on a weeklong manhunt before he was taken into custody on Oct. 12. He was charged with second-degree murder and three counts of endangering the welfare of a child. "As a result of the wrongful, reckless, negligent, and careless acts and/or omissions of the Defendants," the suit reads, "Plaintiff has sustained significant damages, including but not limited to the wrongful death of [Hudson], pain and suffering, psychological damages, mental and emotional pain and suffering, lost wages, loss of future support and services, economic loss, funeral costs, and medical expenses." Bennefield has a violent past. In 2000, he pleaded guilty to kidnapping his ex-girlfriend and another woman by ordering them out of a car and into his while armed with a shotgun. He escaped from the Erie County Correctional Facility later that year while awaiting trial, triggering a 19-hour manhunt. All in all, he ended up serving 15 years in prison before he was released in June 2015. Bennefield remains in jail and is awaiting trial in Hudson's death. Latest Local News Authors of ‘Reading Rainbow’ book discuss show, legacy at Canisius University event Former Buffalo police officer pleads guilty to insurance fraud for claiming truck was stolen Men Without Hats frontman talks longevity of ‘Safety Dance,’ return to the village, Niagara Falls show: interview Wrongful death suit filed in case of woman allegedly killed by estranged husband Part of 190 to be closed Saturday night Aidan Joly joined the News 4 staff in 2022. He is a graduate of Canisius College. You can see more of his work here.