Gavin Currie, 25, died after he was struck by a vehicle as he walked over the crossing at Main Street, Neilston, in Renfrewshire, on December 28, 2011.
His mother and father, Margaret, 60, and James, 62, of Harelaw Avenue, Neilston, and his older brother Euan, 30, sued the insurers of the driver, Lorraine Bruce, for damages at the Court of Session in Edinburgh.
Esure Services Ltd, of Reigate, Surrey, admitted liability but the judge, Lady Wise, was left to assess what should be just compensation for loss of society, mainly the grief suffered by the parents and brother.
She said: "The deceased in the present case was undisputedly close both to his parents and to his brother
"However, he had gained some independence in the years leading up to his death in that he had worked away from home, and it seems likely in the fullness of time he would have left the family home completely.
"The death of Gavin Currie, has caused deep grief to all those close to him."
The judge awarded £42,000 to each parent and a further £22,500 to the victim's older brother. A further £7211 was awarded to Mr Currie as his late son's executor.
Ms Bruce was ordered to carry out 150 hours of unpaid work after admitting causing Mr Currie's death by driving carelessly. She was also banned from driving for 12 months.