You most likely cannot sue for counseling costs, emotional trauma, etc. after this accident. You can only sue for "foreseeable" "damages" (or costs, harm, etc.), which means only for those things reasonably or logically predictable or foreseeable in advance. It is not logically foreseeable that that if car A hits bicyclist B that B will land on car C and in the process cause emotional harm to tween passenger D. The causal chain is too unlikely and attenuated to support liability.