how to settle car accident injury?

I had a car accident 20 months ago. Since then, I have suffered neck pain. I visited my family doctor 8 times, physical theraphy 4 times, MRI twice, X-ray once. A recent MRI showed some tearing and wearing of soft tissue in my neck. I am thinking that my neck pain has become a chronic problem and may not be totally recovered. This accident is other party's fault. The insurance company told me there is two-years limit, and they agree to pay all medical bills (about 4000.00). I heard that I can ask for conpensation for suffering and doctor visit. Is this true? In my case, how much is reasonable? Do I have to hire a lawyer? Thank you very much for your suggestions.