this happened to me before i bumped a guy while stopping at a red light (i was super tired) but i was going very slow just crawling to a stop and accidentally bumped him then he claimed whiplash but ICBC denied his claim. ICBC has a low velocity collison claims so you don't have to worry, heres a pdf i found on ICBC regarding that.
http://www.icbc.com/claims/Injury-cl...arch=%22low%22