You absolutely need to call your insurance company to preserve your rights. Been there, done that.
New Years Eve 1988, I took my mother over to her Cousins house. My cousin and I went to a new Years Eve party in her car, and left my Accord parked legally in front of their house.
We came back from the party and found a Sheriff cruiser with flashing red lights on the street.
Seems that the next door neighbors well lubricated son took her new Toyota truck and went on a drunk. He proceeded to plow into my Accord, and ended up taking a spin over the curb on the other side of the street and ran over a no parking sign, and was attempting to take off. My mother (in one of her not so bright moments) ran out of the house, yanked open the truck door and attempted to grab the keys to the truck. Upon opening the door, beer cans rolled out of the cab. He managed to take off while they were struggling. Fortunately, she was not injured. While this was going, her Cousin called the Sheriff, and the deputy assigned to the village came immediately.
By the time that we got there, Sheriff Roscoe (no, I'm not exaggerating) had the driver in the front of the patrol car. He was obviously inebriated, but there would be no justice because there was a "gap" in the period of time before he took him in custody. According to my mother and her Cousin, he returned back to the house with a drunk in half an hour. He did bust him for hit and run. Roscoe insisted that he was insured and I would be fine (talk about hometown "Justice.") At that point, I was losing my cool so I stepped aside and let the joker finish the report.
On the first business day (Monday,) I called my State Farm agent and reported the incident. Tuesday (at work,) I get a call from Grange Insurance (their company) stating that they refuse the claim because the driver of the truck was specifically excluded from the policy. To make a long story short, I ended up being fully reimbursed personally by the woman for the repair, a rental, plus a couple hundred for my inconvenience. That doesn't happen often.
Let your insurance company handle it. That's why you pay for the coverage.