The driver, named as Anna Gleicy Helrigle de Brito, and two others were found injured in Spital Street just before 8.20pm on August 31.
The 27-year-old’s sister, Danyella Angel Helrigle, told Brazilian media, that Anna’s boyfriend was injured while trying to defend her.
Another courier, who was among the three injured, also tried to intervene.
All three victims are now recovering from their injuries in hospital.
Danyella added: “They are all out of life-threatening danger and are now in recovery.
“Anna was stabbed in the abdomen, which injured her stomach and intestines.
“Right now, she’s only able to consume liquids.
“Her boyfriend was stabbed in the abdomen, and I know his lung was punctured. He still has a drain in place.
“The other deliveryman was stabbed in the chest.”
Anna had been living in the UK for two years and previously worked as a massage therapist.
Her family has since launched an online appeal to help them fundraise for flights to England to support her in hospital.
Elisangela Alves de Brito, Anna’s mum, wrote on the fundraiser: “I am her mother, I need to get there and I can’t afford it, please help me with any amount that God touches your heart, if you can’t help with amounts help me in prayer and share with whoever you think can help.”
Eric Da Silva Soars, 29, of Wharfside Close in Erith, has since been charged with attempted murder and grievous bodily harm with intent.
Senior investigating officer, Detective Chief Inspector Emma Lawry said: “We believe the suspect and victims are known to each other and are continuing to treat the incident as isolated.
“I believe there were a lot of people in the town at this time and I’m keen to talk to anyone who witnessed what happened.
“In particular I believe that a lot of people may have filmed the incident and I would like them to get in touch to pass this footage on as it will assist the investigation”
Da Silva Soars is due to appear at Medway Magistrates’ Court on a date to be determined.
A spokesperson for Kent Police said: “A suspect has been charged with attempted murder after three people were injured in Dartford.
“Eric Da Silva Soars, 29, of Wharfside Close, Erith, has also additionally been charged with grievous bodily harm with intent.
“He has been charged following an incident at 8.19pm on Saturday 31 August where Kent Police was called to a report of an assault in Spital Street.
“Emergency services attended and two men and one woman were taken to a London hospital where they were treated for injuries consistent with stab wounds.
“The victims remain in hospital in a stable condition.”
