Trosper said Whitaker was on her way to work in London when the accident happened.
No drug or alcohol usage was suspected.
Emergency workers stayed at the scene of the accident until around 10:30 a.m. Thursday. Until the road was cleared, traffic was rerouted around the area.
Trosper is in charge of the investigation and was assisted at the scene by officers from the Kentucky State Police, the KSP Commercial Vehicle Enforcement, the Laurel and Rockcastle County EMS, and local fire departments.