What's a reasonable pain-and-suffering payout for a mild case of whiplash?

Question Details:

My wife and I were rear-ended at low speed (no airbag deployment) by a commercial vehicle in heavy traffic. It popped our heads pretty good, and we have both suffered ongoing soreness, stiffness and lost sleep. While we did seek medical advice (treat with NSAIDs and heating pads and give it time). We have not sought treatment nor incurred any medical expenses. Other driver's insurer dangled the prospect of a payout for "pain and inconvenience" but lowballed us ($100 apiece). Under these circumstances, what would be truly reasonable compensation?

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