I was driving and waiting to pull out from a side road to a main road in my car. Just before I pulled out I saw a cyclist and therefore stopped. The cyclist continued, had a wobble and fell off. The cyclist now claims that I hit them. Yet, there was no collision and there is not a mark on my car.

I got out to see if they were ok. No police or ambulance was called. The cyclist is demanding my insurance details. What should I do?