you can move ahead to lodge a complaint against the agent in his individual at your local police station since he is using langauge and behaviour which does not qualifies as professional.
if you have installed cctv @ your home, get footage of that person appearing at your place, if you receive calls, make sure to record the calls, make sure to keep any message that you receive from agent or ICICI in this regard. .
under no circumstances can it be said that the banks have been authorized to conduct their business in such way.
what has been stated to you by the customer care once you submitted your greivance in this behalf?
since you are willing to make all the installments, and have been making consistently and in the event of failure to pay, you informed them before hand, nothing gives bank the power to harras their customers.
I am sure other experts here will pour in to provide more effective advice.
A legal notice to the bank should help you.
nonetheless, you should consult a local lawyer who deals with matters pertaining to loans, insurance.