what do i do?

i was hit by a car yesterday while riding a bike. (they were trying to make a right turn on red while i was crossing the intersection at a green light) i went to urgent care right away because my foot was injured and left with a boot. they told me at urgent care not to pay for the treatment myself since it would complicate the driver/the driver’s insurance paying for it. i have the driver’s name and contact info along with the fact that they have Allstate insurance. i filed a police report today and the officer told me to contact their insurance. i don’t have a car or car insurance so i just don’t know how it works when it comes to contacting their insurance. i tried calling their non-customer number but couldn’t get past the automated voice because it kept misinterpreting what i was saying. do i need to file a claim? how do i go about calling them? what are the next steps? as you can probably tell i’m very confused about the situation overall so any advice is appreciated