Santa Clarita station deputies responded around 10 p.m. to a medical rescue call in the 25000 block of Oak Meadows Drive, according to the Los Angeles County Sheriff's Department.
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The woman, later identified by authorities as Josie Lynn Harris, was found unresponsive in a gated community, and firefighter-paramedics pronounced her dead at the scene. The 40-year-old is the mother of three of Mayweather's children, according to Los Angeles County Sheriff Alex Villanueva.
"It was learned the woman was discovered inside a vehicle parked in a driveway of a residence where it is believed she lived," the Sheriff's Department said in a statement.
The cause of death is under investigation. Villanueva says detectives are looking for witnesses. There were no obvious signs of violence and she was apparently alone when she died.
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Harris' relationship with Mayweather had a history of domestic abuse. Mayweather served two months in jail for battering her in 2010.
She had been working on a book with Jann Robbins, a writer and widow of famed novelist Harold Robbins.
"I am brokenhearted actually, because I will miss her. I miss her bright light she always brought into the room," Jann Robbins said.
Because of the children, Robbins says Harris had a back-and-forth relationship with Mayweather.
Anyone with information about the case is asked to call Crime Stoppers at (800) 222-TIPS (8477).