His funeral will take place the following day at St Vincent’s Catholic Church at 12pm on August 28.
He will then be taken for his “last rounds of Dartford” before being buried at Stone Cemetery in Greenhithe.
His mum, Hayley Maughan, said: “This is a celebration of my son’s life and our final goodbye – everyone could please show the best of respect that day.
“Thank you very much, all more than welcome.”
Attendees are asked to wear baby blue or lemon colours.
The fatal collision which involved two Ford Rangers happened at around 9.20pm.
Father and son Patrick Maughan, 53, and Owen Maughan, 27, both from Hill Rise in Darenth, are charged with Peter’s murder as well as causing grievous bodily harm to Peter’s father Lovell Mahon, 24, who suffered serious injuries.
Both men are also charged with the attempted wounding with intent of Peter’s sister Annarica and mum Hayley.
Tributes have since been paid to Peter online with many describing him as a “beautiful angel”.
One said: “You were golden, Peter. The family chain is broken and will never be the same without you my boy. Forever 4.”
Another said: “Rest in peace baby. A little angel way too good for this sick, cruel world. Straight to the gates of heaven.”
“So heartbreaking. A beautiful baby boy, rest in heavenly peace, angel.
“He was the kindest little boy and loving child”, a third added.
