Irvine Jr. was in the passenger seat. His partner, Matthew Schulze was injured and treated at the hospital.
On Monday, dozens of people gathered at the crash site to hold a vigil for the fallen officer.
"It’s the least I can do, I can’t do much," said Milwaukee resident Kevin Brandstetter. "I looked at that kid, I said he would have really been something. He had determination in his face for such a young kid."
Gathered at the memorial were neighbors, strangers, fellow officers and loved ones of Irvine Jr. He's the first Milwaukee officer to die in the line of duty in 22 years.
"There are no words to really say that may be comforting," said Rev. Kevin Stewart, with the Episcopal Diocese of Milwaukee. "But as we come together and hold hands, hug one another, we find comfort in God's love and care through our actions."
Irvine Jr. served with the Milwaukee Police Department for four years, after joining the department as a police aide at 19 years old.
His lieutenant at the department spoke at the vigil.
"The Milwaukee Police Department could not get through this without your support, your prayers, all your kind gestures," said Lt. Taylor. "Officer Irvine did his job every day. He didn’t complain and today I know he didn’t give his life in vain because look what he’s done today, he brought us all together."
Irvine Jr.'s funeral will take place Saturday June 16, at Elmbrook Church in Brookfield.