Any chance of giving the location?
The only thing you did was undertake. Was that reasonable?
The other guy was in the hatched area with no good reason, if he didn't see you he couldn't have looked properly and would almost certainly have not seen cyclists/motorbikes etc.
I have a feeling that you'll need to fight the insurance company who'll want to apportion blame to both parties. Common sense says you should get something out of it, but since when did common sense come into insurance?
Hopefully someone else will give you some definitive advice. Good luck with it.
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