ICBC WILL "screw" you, it's their business to. They're not going to give everybody a huge settlement because they want to, they'd go broke and we'd pay way more to insure our cars.
See a doctor now, get it documented, have a lawyer (who is an expert at ICBC injury claims/settlements) represent you and stop talking with ICBC.
Even if you don't feel any pain now, don't take any chances because it could potentially come back and bite you in the ass. I know plenty of people who felt fine and settled with ICBC for an "ok" sum, only to have neck, shoulder or back problems rear their ugly head a year or more down the road. Too bad then, you have to live with the problem because you've settled.
And yes, even if your family lawyer is a good guy it doesn't mean he's experienced or even handles this particular type of case.