Justin Shell, 36, of Harrisonburg, Virginia is charged with manslaughter for the death of Connie Birkenmeier, 76, of Bar Harbor.
The accident occurred Tuesday just before noon in the parking lot of the Chart Room restaurant.
Shell was driving from Cadillac Mountain to Old Orchard Beach when he allegedly fell asleep behind the wheel.
Police said he told them he knew he was sleep-deprived after making several long distance drives in a short amount of time.
District Attorney Matthew Foster said "It was just a really bad decision to make to drive when you're really that tired and you say to yourself, I am too tired, I need to take a nap but I am going to keep driving anyway. We just feel that it's really important to discourage that, in every way possible."
Shell's attorney John Steed stated "Assuming with everything with the state is correct would a reasonable officer assume that a crime has been committed and based on the evidence in the courtroom I think there's a reasonable argument to be made that it wasn't. It was certainty on the line, I thought."
His cash bail was set to $5,000.
He's expected to appear in court again on October 12th.