About two weeks ago, I was driving and a guy made a left turn from another road onto the road i was on, crossing halfway through my lane, but then stopped in my lane instead of continuing. I didn't have enough room to avoid hitting him, so I swerved and hit his back left bumper with my left front fender. He stopped and said he would pay for it, so we didn't report it and left. I've been in contact with him since then with details about how much it would cost, but recently he's stopped answering his phone, and I'm worried that he's trying to give me the slip. I have his name and license plate number, but I am not sure if it would be okay to go to the police or my insurance company with this, as I don't want to be facing any charges of leaving the scene or failure to report. What would be the best course of action?