The Contra Costa County Coroner's Office identified the victim as 29-year-old Richmond resident Rashanda Franklin.
The victim didn't live where the shooting took place, but police say she may have been there to drop off one of her children in the area.
Several homes around the area have surveillance cameras that captured the shooting and the suspect taking off in another vehicle. All of this happened as Franklin's two small children watched from the back seat.
Video shows Franklin's jeep with a silver Mercedes Benz just in front of it. Moments later the suspect, who Richmond police have now identified as 43-year-old Lawyer Dushan McBride from San Pablo drove off in a 2007 Silver 4 door Mercedes Benz S550.
Investigators say McBride shot Franklin one time in her upper body. Her children, both under 10 years of age, were in the backseat.
"Witnessing your own mother being killed," said Lt. Felix Tan of the Richmond police. "My heart breaks for these kids."
Richmond police say they received a call for a domestic dispute minutes before the shooting at 29th and Rheem streets. They say the shooting was definitely targeted, and that police had been called for past domestic violence situations involving the couple.
A neighbor described the children in the car. "They cry," said Salvador Realagno. "I feel, it was very sad."
"It's unfortunate, but I'm going to be praying for the family because it's tragic," said another neighbor Angela Robinson.
Investigators say McBride is not the father of the children who were in the car.
CoCo county coroner id's victim in Richmond domestic shooting as 29-year-old Rashanda Franklin of Richmond @abc7newsbayarea— Melanie Woodrow (@MelanieWoodrow) April 4, 2017