If you need to make a claim for anything more than property damage (the bike, ripped clothes, etc.), get a lawyer. Injury claims involve more money and are more complex than most folks understand. The insurance adjusters are pros - you are not. If you're OK with a few hundred dollars to replace an old bike (and there's nothing wrong with that, if that's what your damages are), go for it. A ride in an ambulance by itself costs at least a few and maybe several hundred dollars, and even a short stint in the ER can cost a few thousand. Sign a release with the insurance company and you're done, even if your medical bills turn out to be much higher.