1st incidence: The car with full self driving mode self-changed to shoulder lane on [XXX] for unknown reason. I had to steer back to my lane to avoid hitting the FWY divider. 2nd incidence: with autosteer/cruise control mode, the car self changed to left lane, again I quickly guided the steering wheel back to my lane to correct the action and it caused a car accident. INFORMATION REDACTED PURSUANT TO THE FREEDOM OF INFORMATION ACT (FOIA), 5 U.S.C. 552(B)(6)