NHTSA Complaint #11536722 — 2020 TESLA MODEL Y

I was on a self driving mode enabled but it’s been raining for a while and I believe it showed the poor weather condition so FSD is not enabled but autopilot was engaged (but not 100% sure about which mode it was) It was around 2am in the morning and was on 580 southbound from Dublin to SFO. I was on the second to the left lane. It suddenly tried to go diagonally to the first lane. (Not like normal lane change but very abrupt almost like making turn 90 degree left) so I tried to cancel by holding on the steering wheel. And then it went out of control and start rotating until it stopped by hitting the center guard rail on the passenger rear side. The car stopped facing backward on the road (on the center shoulder). Luckily it was late night (around 2am) and there were no car behind luckily. I could have dead if another car hit into my car. Tesla insurance of course didn't admin any of this and told me it was my fault.