Police allege that Joseph took heroin before driving around, with her daughter in the back, parking the vehicle and then falling asleep - at which point the infant died.
An autopsy is still pending, but it's believed that she got tangled in the belt trying to escape and was strangled to death.
Joseph has been charged with second-degree child endangerment and could face up to 10 years in prison. This is her third such arrest in nine years.
In 2014, Joseph was convicted of child cruelty and neglect after police found her unconscious alongside her 11-month-old son, who was partially submerged in a bath, NJ.com reported at the time.
Next to Joseph's unconscious body were spoons, envelopes containing heroin residue and two crack rocks.
She received a year in jail and was released just over a year ago.
And in 2008, Joseph was arrested after leaving her other two children, aged 11 and 2, alone at home so she could get high in a parking lot.
Those children were taken into custody, although it's not clear for how long, according to reports at the time.
Over the last 20 years Joseph has also been convicted on charges from seven arrests ranging from possession of heroin and cocaine to resisting arrest or eluding after being told to stop.