The California Highway Patrol says it happened northbound on the 99 near the Olive Avenue off-ramp on Wednesday.
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Officers say the woman was in the middle lane of the highway when the semi-driver didn't see her in time and ended up running into her.
The driver pulled over immediately.
The victim was later identified as 21-year-old Angelica Beltran of Fresno.
Officers do not know why she was in the road.
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She died at the scene.
Road closures were in place but have since been lifted.