What should I do? Should I counter sue?

Last month I drove my 16'truck and parked in front of bldg to make a del. On my way out the bldg I saw a car coming in the entrance making a left passing my truck. I noticed that it was a female driver talking on her cel phn. I got into my truck and looked through my mirrors noticing that it was clear to leave and proceeded to back up my truck about 6 feet to the entrance so that I can make a richt turn going out to my next destination. I was going about 3miles an hr. all of a sudden I heard a small thudd. I went out to look and saw that the driver that went left decided to stop and reverse course. She backed up right into my blind spot and stopped her car in the middle of the street. If she kept going there would have not been an accident. No damadge on my truck but a little scratch on her bumper. She called her husband on her phn and after talking to him she kept pressing the police officer to call an ambulance. No citations were issued to both parties but the police told me that there was a witness and she saw that the car was still and that I backed into it. He also said that the driver told him that she was going left and stopped and then backed up. She automatically calld my ins co to report the accident. My ins co told me that my policy expired and I did not have any coverage. I was an Independert contractor working for a local courier service at that time. I no she saw an opportunity because the policeman gave me that look. Very little damaged to her car if any. I just received a letter in the male from her atorney wanting me to furnish him with my insurance co, who I work for and who lives in the same house. I'm scared, don't have any money and don't know what to do. I'm not working not eligible for unemployment . Should I counter sue?