Never on a bicycle but have had one land in my ear, under a motorcycle helmet, a few times to the face chest and neck as they bounced off the wing window in my semi, and yard work has been the worst. A couple times of twenty or so strikes when picking up branches and breaking them down to fit into trash containers. Anywhere near a nest in a woodpile or compost pile and a “snap” will put them on the defense.
I’m not allergic but do believe I’ve suffered some demyelination from the latter larger events.