My neighbor's 4Runner did the same thing to my car, but they were nice enough to let me know it happened and pay for it.
Anyways, if the scratch doesn't go thru the paint then a local body shop might be able to buff it out for a few bucks. Mine had about a 3-4 inch long scratch that ended with about 1/8 inch of missing paint. The body shop I took it to was able to buff out everything but that last 1/8 inch and it looked just fine. Still got it painted (~$100) since I was already paid for the damages and being my neighbor, they'd notice if I just took the money and didn't fix it