Advice: Should I call my Insurance - Submit Claim?

So was going to the store last night (only a few blocks away) and pulling out of my alley I didn't notice a black parked car. While looking left and then turning right I turned a little too sharply and scraped the back right panel of the car (really just the bumper). I didn't stop until I scraped a long both my doors... I got out and looked and I actually did more paint damage to my car than the other one (just the one section).

There was no major dent/body damage to either car. I didn't dislocate the bumper or anything. No windows shattered, etc. I wasn't going that fast since I just pulled out of a driveway.

Nobody else was around so I left my info. on their windshield (no rain/snow) and double checked it was there this AM which it was. My thought is a resident had parked for the night so was not in any nearby store/restaurant.

Anyway, should I call my insurance company this morning? I have an accident forgiveness available. I have a $500 collision deductible and given how long the paint damage is on my car I might need it.

Thoughts? Or just easier to wait for the person to call and settle directly with how they'd prefer to approach. I did take pictures last night of the damage to his/her car. There's a pretty good body shop (great reviews, work on collisions, paint damage, etc.) but they are closed today and don't want to wait too long to file the claim.