Accident death of vehicle owner insurance procedure

Hi Sir, I request you to let me know the procedure for getting claims for my friend who passed away in a bike accident on 12/07/2021. It happened on night around 12.40 as he was not aware of the drainage work in progress on a road . We found him dead and post mortem report says the reason is severe head injury. The issue is next day morning police asked me to write a complaint to release the body to another hospital for post mortem in which they told me to write "Rash driving and negligence". I didnt know the seriousness and i found IPC 279,304a charged in FIR. Will the claims get rejected because of that or is there a way to return the complaint? I am asking your help after reading many articles related to this type of cases but couldnt find a solid answer. The vehicle documents are clear and he was not drunk. Is there anything that might reject the claim for his family. There are no CCTV cameras in that area to support the FIR. Please help me on this. Thank You