The agreement will enter into force 30 days after both countries have confirmed with each other in writing that they have completed their respective domestic requirements.
67-year-old former Japanese Prime Minister Shinzo Abe raised the concept of the "Quad security partnership" between Japan, the US, Australia and India.
The crash killed 42-year-old mother Nancy Lefrançois and her 11-year-old son Loïc Chevalier, who were travelling in a passenger vehicle struck in the collision.