请教车祸赔偿问题

I had back injury (disk bulge)due to a car accident two years ago (doctor provided statement show it's a permanent damage). The medical bill is $20k. The insurance company offered $30k (since it's a soft tissue injury and no salary loss - I'm not working). My lawyer will get $10k+, my health insurance company gets upto $20k depends on the lawyer's negotiation skill; I get what's left.

I prefer to go to court. But my lawyer is a very layback person and prefer to settle it. Should I accept it? What can I do? Thank you in advance!