Autopilot disengaged( with a loud beep and visual ) and the driver didn't have his hands on the wheel like he is supposed to. Consequentially the car started to

Autopilot disengaged( with a loud beep and visual ) and the driver didn't have his hands on the wheel like he is supposed to. Consequentially the car started to drift left. In addition autopilot can only be used on a highway. Several mistakes made by driver, so the blame is on him.