IANAL. It depends on who is at fault. If you are driving your car down the highway and a pedestrian jumps in front of you so close that there is nothing you can do...
Homicide doesn't mean murder. It simply means the killing of a person by another.
People make a big deal about how in capital punishment, the death certificate says 'homicide'. This isn't a political statement that capital punishment is murder; it is just the objective fact of what happened.