I've been commuting regularly (but not every day) since 2010, and I've made contact with vehicles on 3 occasions, all within the past year (yes, I changed routes - why do you ask?).

1 was completely my fault - I was trying to squeeze past a stopped bus, and the space was too tight. No injury or harm to bus, bike or me.

2 was a taxi who right hooked me at very low speed. I was in the bike lane, approaching the intersection and clearly heading straight (okay, clearly to me, and given that 95% of the bike traffic at that intersection goes straight to follow the bike route, should have been to him, too). I was bounced into the curb, stayed on my feet. No real damage to bike or me, except raising my BP and ire.

3 was back in April: I made contact with a vehicle that pulled extremely suddenly into the parking 'lane' while moving very quickly down a hill. I was unable to swerve/stop/slow enough to avoid the contact. minor injury, though lingering residual effects (my pinky tendon was damaged, and I still can't bend my pinky completely).

I will freely admit that I am a bit too aggressive in the urban environs. I get annoyed at being blocked by other vehicles using my streets (and esp. my bike lanes).