Yes. Regardless of who's at fault for the accident, everyone should report the incident to Uber. It'll help to ensure that they are covered by the insurance and make it clear the driver was in fact in Period 3. We talk more about that here: https://www.youtube.com/watch?v=KZN9JHwjLu8
It's also important the driver gets the passengers information as it may be needed later if a lawsuit is filed.
Want to know more? Check out the LegalRideshare Driver Checklist.