Should I Call?

So on my way home from the store I came to a 4-way intersection where each direction has a traffic light. I had a green light as well as the driver in front of me which means the lights from traffic coming from the other two directions had a red light. I had green so I started pulling out to make my left turn to go home. A silver car coming from the direction I would be heading had a red light & blew through it going full speed. I saw him & slammed on my brakes before he could hit my car. He stopped as well but sped off when he saw my boyfriend get out of my car to get his license plate number so we could call the PD. I had a HUGE panic attack after I pulled over on the side of the road a little ways down the road. I was shaking, hyperventilating & crying. I'm 21 weeks pregnant. Baby has been pretty inactive today before the almost accident & I did feel her kick once on the rest of the way (less than 2 minutes) home. But she has her lazy days as well. I'm not bleeding or cramping but I'm scared the panic attack I had has affected her. Should I call my OB to get checked out or am I just overthinking? I don't really want to bug my doctor if it's nothing serious. Just need some reassurance I think.