The funeral mass will begin at 3:30 p.m. at the St. Joan of Arc Parish in San Ramon, located at 2601 San Ramon Valley Blvd.
Robert, 17, who was a day shy of entering his senior year at San Ramon Valley High School, was driving back from a fishing trip with his two friends when the crash happened at about 8:50 p.m. on Aug. 26 near El Capitan and Claridge drives.
Last week, students across San Ramon Valley schools showed their support by wearing green and white in memory of Robert.
Orlando is survived by his parents and two brothers.
One of his brothers arranged for donations to be made in his honor to Fairfield-based nonprofit Kids Day of Fishing, the organization's founder Michael Johns said.
The organization puts together outdoor activities and fishing events for special-needs and underprivileged children. A fishing derby will be held in Fairfield in Orlando's honor sometime in April 2014, Johns said.
He said several donations have come in this past week in honor of the Danville teenager. An online memory board and a physical board that will be taken to various events has his name on them, Johns said.
Johns said Orlando's grandfather contacted the organization about donating Robert's fishing gear to needy children.
Johns said the grandfather called Orlando an avid fisherman.