Feeling Scared, Might Be Getting Sued

Long story short, I got into an accident a few months ago where someone ran a red light and I ended up hitting their car because I did not end up seeing them come in. My car got totaled and I don't know what happened to their car. The police were there and took a police report. At the time, the officer told me that he could not put anyone at fault because it was he said she said situation. He also told me the insurance would have to decide the case on their own terms. The other lady straight up lied and said she had a green light.

Anyways, I went back to the crash scene and managed to get video footage of the accident. The video is a bit blurry, but you can clearly see the accident occurring with the data and time listed. On the video, you can clearly see that my light was green and hers was red right leading up to and a few seconds after the accident. What actually happened that you can see in the video was that she was in the right turn lane but tried to go straight on a red to avoid the traffic that was built up on her street to go straight. I gave the video footage to my insurance asap. I didn't bother giving it to the police as they told me again they couldn't decide who was at fault, insurance would have to.

A few weeks later, I hear the other party is hired a lawyer who is trying to get my insurance to pay out my insurance for medical bills? I thought I would be fine since I had the video but for some reason the police report put me at fault. My insurance has put me at not fault because the video and have said they will not pay anything out to the other party. I even added a supplemental to the police report with the video evidence a few weeks ago, but when my insurance reordered the police report, they said it was unchanged and still had me at fault and no supplemental was added. I managed to obtain a copy of the police report and lots of things were wrong on it including the vehicle models and where the cars were on the road from a satellite picture. The police report lists my statement, and the other party's statement. At the end of the report, it concludes me at fault for not stopping at a red light even though I clearly told the officer my light was green, and he said all the stuff about not being able to put anyone at fault.

I got a call today saying my insurance is going to deny the other person's injury claim and send a letter to the lawyer saying that they aren't going to pay out anything as they have evidence that I am not at fault. They also told me that the other party can go forward by either dropping the injury claim and pursuing my insurance, or that they may try and serve me papers to sue me and take me to court. They said to contact them if anyone comes to my door and notifies me that I am being sued.

I am very scared right now. I am only 20 and have never dealt with anything like this. Will my insurance defend me with a lawyer if the other party still keeps trying to sue? If I am taken to court, would a police report override the video evidence which shows the other party running the relight and accident happening? Should I get my own lawyer? Any insights would be appreciated. Thank you everyone!