Did the police give him a ticket? Even if they did not, it sounds like he was in the wrong for failing to yield. If it's pretty clear, the insurance company will likely not waste time and money fighting a claim.

I got hit several years ago by a cab. No injury, but my bike needed work. I was very aggresive with the cab's insurance company and got a check delivered to my house (by a bike messenger) within two weeks. Mentioning that I might all of a sudden develop back pain from a soft tissue injury I didnt know I had may have helped.