Firstly, we were driving in the center lane on I-84W (three lanes), with Full Self Driving (FSD) at 55 mph. The car veered left on it owns (under FSD) into the center median with the front driver side of the vehicle struck the metal beam guardrail causing both air bags to deploy on the driver and left rear passenger sides. The car continued to move forward in the next 4-6 seconds under FSD (approximately 10-20 feet range) and then came to a complete stop with flashing warning screen asking driver to take over the steering wheel immediately.