Minn. Stat. § 169.21 Pedestrian.
(d) Notwithstanding the other provisions of this section every driver of a vehicle shall (1) exercise due care to avoid colliding with any bicycle or pedestrian upon any roadway . . .
It is incumbent upon the driver of the vehicle to proceed with caution when making a turn. Bicyclists are required to use hand signals in Minnesota. If our OP was proceeding straight through an intersection, he indicated that by not using a signal.
At any rate, the driver is apparently at fault.
Additionally, I would question the statement by Allstate that the OP's auto insurance would take care of the bills. If the OP was car free, he would not have auto insurance.
East Hill
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TRY EMPATHY & HAVE LOVE IN YOUR HEART, PERHAPS I'LL SEE YOU ON THE ROAD...