Jamie Bridgwater has been charged with causing death by careless driving while over the prescribed limit for drugs.
It is alleged the 33-year-old from Lichfield Street, Stourport, was driving a van which collided with Brian Humphreys.
The 85-year-old was knocked off his pedal bike in Temple Bar, Willenhall, on June 15. He died from his injuries on June 26.
Bridgwater is due to appear at Dudley Magistrates Court on May 4, a spokesman for West Midlands Police said.
After his death, Mr Humphreys' family paid tribute to a man they described as more than just a friend or family member.
"A dedicated husband, father, grandfather and friend to many; Brian is loved by so many for his enthusiastic approach to life. Age was always just a number," they said in a statement.
"Nothing ever fell short of perfection, his dedication to hard work and high standards made him not just a friend or a father figure in the lives of those around him; but a teacher, mentor, and guide through life’s many turns.
"Brian’s life was filled with good times surrounded by the people he loves most, exploring the world, laughing and dancing up until the day he was cruelly taken from us.
"Our memories will be treasured, but a huge part of our lives will now be forever missing."