Insurance Fraud

Hi , My husband was backing out of a driveway and saw a truck coming down the street kind of fast. He decided to go up the driveway again to let the truck go through. Th etruck decided not to wait and squeezed themselves through anyway. He ended up scratching my rear bumper ( about half an inch) and doing some damage to his door. We called the police since he was being so dramatic saying we had hit him. The police said there was not enough damage to file a police report ( it has to be more thank $750 in damage ) We still exchanged info. He ende up reporting the andquot; accident andquot; to his and our insurance. The adjuster came out and took pictures of our vehicle. We tried renewing our insurance a year later and found out my husband was being held responsible for the accident.They paid the guys $1560 for damages. I cant believe they paid him that amount when the cops said it wasn't even 750 worth of damages to either vehicle. No one ever told us we were at fault. Now they are trying to make us pay $150 more a month for car insurance . Can they put you at fault without ever doing a proper investigation ?