Such payment is by ECS mode.Usually insurance company obtain email id in proposal form and a reminder for payment by email,SMS is also sent.
Did any ECS bounce due to insufficient balance in account.
Before declaring the policy having lapsed company should have provided service to keep policy in force.
In case of non payment usually company approaches the customer.
The onus of payment is on customer.
You may approach a competent and experienced lawyer having expertise in consumer and insurance matters.
The grievance redressal mechanism thru IRDA is given in handbook.