I work for QDI and unfortunately you personally can't claim from your own policy for injury apart from certain extreme circumstances, (loss of sight, limbs or life). Your daughter is a different matter however.
Even in the worst case scenario, assuming that both insurers deem the accident 50/50, you are entitled to receive 50% of all your losses from the other side.
I would contact your own insurer immediately to get your side of the story in and to enable them to pursue the other insurer on your behalf. Liability can be difficult to establish but point of impact is usually very helpful, especially if neither vehicle were moved prior to the gardai arriving. Don't be alarmed by the fact that the other party had a passenger, they are not deemed to be independent and so will not necessarily bias the outcome.
Hope all this helps and the best of luck.