Yes, once, in 26,000 miles. Got a nice new Kestrel frame out of it, so I'm pedaling carbon now when I had been pedaling aluminum. Ended up with a bruised rib, and that was it. I had the right of way, she pulled out from a stop side and hit the front wheel area, stopped before actually running me over, but it hurt. She was very apologetic, which went a long way. I do have the top rated bicycle lawyer in PA on my speed dial, but that day she made me feel she was very sorry, so I just took what her insurance company offered and went about my life. Maybe someday one of those "get off the road" ******** will knock me off my bike and I can own his ass, so long as I survive.
Happy pedaling, and be as safe as you can.
Joe