A retired Brooklyn home health aide was on his way to a doctor’s appointment when a box truck driver fatally struck him without stopping, the man’s grieving relatives said. Marco Gallardo Tirado, 59, was was crossing DeKalb Ave. midblock near Wyckoff Ave. in Bushwick when the truck driver struck him about 9:35 a.m. Friday, cops said. “The way he died, we aren’t taking it really well,” Tirado’s sister-in-law Miguelina Vivia said. “I was shocked, in disbelief.” Theodore Parisienne for New York Daily NewsMarco Gallardo Tirado was struck by a white box truck driver on DeKalb Ave. near Wyckoff Ave. in Brooklyn on Friday. (Theodore Parisienne for New York Daily News) Medics rushed Tirado to nearby Wyckoff Heights Medical Center but he couldn’t be saved. “He was a good person,” Vivia said. “He was caring. He helped everybody. He didn’t bother anybody. He was a quiet person.” The victim was on his way to a routine doctor’s appointment. “He was going for a regular check up,” his brother, Washington Tirado, told the Daily News. “No one expected any of this to happen.” The driver, Lennis Escalona Luna, didn’t stop but cops identified his truck through its U.S. Department of Transportation number and linked it to a Park Slope company headquarters. Luna’s boss asked him to return to base, where cops took him into custody without incident. Investigators are unsure Luna knew he had struck someone. Police charged him with two violations, failure to yield to a pedestrian and failure to exercise due care, and released him. He’s expected to appear in Brooklyn Criminal Court in the next few weeks to answer the charges. Theodore Parisienne for New York Daily NewsMarco Gallardo Tirado was struck by a white box truck driver on DeKalb Ave. near Wyckoff Ave. in Brooklyn on Friday. (Theodore Parisienne for New York Daily News) It isn’t clear if Luna will face additional charges at some point. “How can he not see my brother in the middle of the street? I don’t understand. How can you not see he was crossing?” Washington Tirado said. “Even the blind can see he was crossing. (The driver) just wasn’t looking and aware.” “He was a nice brother,” added Washington Tirado. “He doesn’t drink or do anything crazy or nothing. Just liked being around family.” Tirado’s death comes as pedestrian road fatalities have risen across the city, with 85 fatalities this year as of Oct. 13, an 18% increase from the same timeframe last year.