What is the ruling on paying money for killing a soul in an unintentional accident?

If a driver accidentally hits a person with a car and the victim dies, there are two scenarios:

1. If the driver took all safety precautions and was not negligent, then neither expiation (kaffarah) nor blood money (diyah) is due from him. 2. If there was negligence on his part, then expiation and blood money are due from him, based on the Almighty's saying: "And whoever kills a believer by mistake – then freeing a believing slave and a compensation presented to his family [is required] unless they give [it in charity]..." The blood money is to be paid by the killer's 'aqilah (male relatives on the paternal side).

If the killing was accidental, and the amount of money equals the prescribed blood money, or a specific amount is agreed upon through reconciliation, then there is no harm in that.