As long as the driver can clearly be show to have caused the crash, you should be able to file insurance claims for the payment of medical bills and other monetary damages.
Virginia does do not have a state law requiring bicycle helmet use. Several cities and counties do require helmets for bike riders younger than 14 years of age, but those ordinances pretty uniformly contain clauses stating that failure to comply cannot be cited as the sole reason for denying personal injury or wrongful death claims.
EJL