Would You take an insurance settlement without an attorney?

Okay, my husband and I were driving down the highway when a 97 mazda truck hit our 2010 honda Odyssey (which we only had for four months) at 75mph. When they hit our fan the collision crashed us into the guard rail breaking the axel of our van and then the truck went flipping down 95. The passenger of that vehicle was not wearing a seatbelt and was ejected from the vehicle and died on impact. My husband and I suffered severe whiplash, my husband was out of work for a week, I stay at home and continued to have lots of swelling in my neck and hip but extremely minor compared to the passenger of the other vehicle. We found out that the driver of this vehicle was not insured and our insurance picked up the medical bills and payed off our van. Now...My husband and I went to get another vehicle but was given a high interest rate because we had a few issues with our credit. Now that we won't accept paying a ridiculously high payment for a new car we are at a loss. Should we try to negotiate a decent settlement check for our accident from our own insurance company or get an attorney???? Please no rude comments. We did not want to sue because we did not want to inflict any more pain on the family that lost their loved one.