The deadly collision happened around 1:10 a.m. on the Fifth Street off-ramp from westbound Interstate Highway 80, according to the CHP.
A man identified as 27-year-old Jaime Juarez was driving a Toyota SUV on the off-ramp when he drove off of the roadway and into a dirt embankment where the victim was sleeping, according to the CHP.
Emergency responders arrived and attempted life-saving measures on the homeless man, but he was pronounced dead at the scene.
Juarez was taken to San Francisco General Hospital with minor injuries. No one else was in the car with him and no other injuries were reported.
He was later arrested on suspicion of felony DUI and vehicular manslaughter and taken to San Francisco County Jail, according to the CHP.