I'm not an expert, and my experiance has been of being the driver in the wrong, but if a car is reversing onto a main road, then it gives way to traffic on the road, which would put the driver of the jeep in the wrong.
Has the guy any insurance? Did you get his insurance details and name and address at the scene? Did the guards get his details? If he is not insured, then your options are probably to claim on your own insurance, pay for the damage yourself, or sue him directly.
It may be worth noting (remember that I was not there and this is a general thing), that it's worth driving extra carefully. You may be in the right in this case, but it's still a lot of hassle, and no guarantee that you will get the damage paid for.
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