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We were once on the other end of an accident like this. The other person sideswiped us when they changed lanes. They did get a ticket if I remember right. We went to the chiropractor for minor injuries and I saw the Dr for a check on the baby since I was 7 mo pregnant. Hubby and I had whiplash, I had a slightly sprained wrist and a bump on the head. Ends up their Insurance company "State Farm" got our car repaired within a couple weeks. (It wasn't totalled but almost) Later - almost 2 years later the insurance company finally settled with us for around $4,000 I think. We were much more friendly and spoke to the other driver and the people in his car calmly and respectfully. They were concerned for our well being and us for theirs. The overall demeanor of everyone involved was much more friendly than your situation. If they go through the proper processes then your insurance company should settle with them. As long as your insurance company doesn't screw them over then they probably will have no reason to come back on you and sue. In fact if they accept a settlement from your insurance company I don't think they can come after you for any more. Don't quote me on it but I think that's the case.
The only thing to worry about is how much your insurance may go up for the next few years. I wish you good luck on that. You can take a driver's safety course through the DMV to help lower your insurance and the points on your liscence. Good luck.
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"Always learn the rules so that you can break them properly." Dalai Lama
My Karma just ran over your Dogma. 
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