The commonly cited study (that of course nobody reads) from the Governors Highway Safety Association showed that if you get hit by a truck or SUV you have a higher chance of dying. They also found that if you adjust for how many of each are on the road, you are 15% more likely to be hit by the driver of a car.

Trucks and SUVs are on average newer than cars and at a higher price point, which means more newer safety features like object detection and driver warnings. I also suspect the feeling of mass in driving a larger vehicle makes you take driving more seriously.