Your safe, thats the most important part.
As for the vehicle, check for every single part, since it seems as though you may have some frame damage ($$$). However as long as your health is in the best condition possible after an accident, then the safety systems are doing their job. However again make sure you get the vehicle checked out from a certified BMW dealer or collision specialist.
BMW and Mercedes Build Beta Products!
Lexus build Release Candidate Products!
Why does this matter?
CAUSE EVERY TIME someone says Lexus has better build quality, one should consider what Toyota their Lexus Engine and chassis platform comes out of and how long that part has been tested in the real world!